CASIC Multimode Satellite Navigation ReceiverMultimode Satellite Navigation Receiver
Protocol SpecificationProtocol Specification
V3.6
www.icofchina.comSubtitle Hangzhou Zhongke Microelectronics Co., Ltd.
Hangzhou Zhongke Microelectronics Co., Ltd. Internal Document
Title CASICDocument Type Document Number Document Status
Hangzhou Zhongke Microelectronics Co., Ltd. provides a
detailed description of the CASIC multimode satellite navigation receiver protocol specification, including the general standard NMEA0183 protocol, as well as a custom binary protocol.
DESCRIPTION OF release date 2017.04.24 3.6 CASIC protocol payload '1kB increaseda predetermined size from
to2KB
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1 NMEA protocol
1.1 NMEA protocol wherein
The CASIC receiver is compatible with the international standard NMEA0183 protocol. It supports NMEA0183 version 4.0 by default, is compatible with V2.3 and V3.X versions, and supports the NMEA0183 V4.1 standard and the pre-V2.3 standard by sending commands.
Data is transmitted in serial asynchronous mode. The first bit is the start bit followed by the data bit. The data bits follow the rules of least significant digit precedence. Data transfer mode
start bit D0 D1 D2 D3 D4 D5 D6 D7 Stop bit
data transfer parameter baud rate (bps) support 4800, 9600, 19200, 38400, 57600, 115200 data bit 8 bit stop bit 1 bit check bit no
1.2 NMEA Protocol Framework
NMEA messages are sent by the GNSS receiver and support the NMEA0183 protocol. Data format protocol framework
NMEA protocol framework
checksum calculation range
$ <address> {, <value>} *<checksum> <CR><LF>
starter address segment data segment checksum segment end sequence
each statement
Divided into two parts: all starting with the '$'
sender identifier
and the statement type
detailed NMEA protocol standard reference http://www.nmea.org/ this receiver protocol specification is based on the NMEA protocol framework, added Custom statements for controlling the receiver's operating mode, as well as querying the receiver's product information. The identifier of the custom statement is 'P'.
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starts with ',', the subsequent value length is variable, and there is a fixed length
pair '$' and
the number between each statement '*'
is According to(excluding the
two characters of <CR><CF>)
the result of the XOR operation
, the internal file of Hangzhou Zhongke Microelectronics Co., Ltd.
1.3 is used to indicate the NMEA identifier and field type
1.3. .1 Transmitter Identifier The
NMEA statement distinguishes between different GNSS modes by the sender identifier. The transmitter identifier is defined as follows: Transmitter Identifier Beidou Navigation Satellite System (BDS) BD Global Positioning System (GPS, SBAS, QZSS) GP Global Navigation Satellite System (GLONASS) GL Global Navigation Satellite System (GNSS) GN Custom Information P
1.3.2 Satellite Number Identifier
Satellite System NMEA Satellite Number Identifier Satellite PRN Satellite Number Correspond to its PRN GPS 1~32 1~ 32 0+PRN SBAS 33~51 120~138 87+PRN GLONASS 65~88 1~24 64+PRN BDS 1~37 1~37 0+PRN QZSS 193~197 193~197 0+PRN
1.3.3 System identifier
The CASIC receiver supports multiple NMEA data protocol formats. The difference between different protocols is reflected in the system indicator. Face, while the new version of the protocol adds some fields.
NMEA4.0 and below NMEA4.1
GGA [1] logo [1] logo
ZDA [1] logo [1] logo
GLL [1] logo [1] logo
RMC [1] logo [1] logo
VTG [1] logo [ 1] Identify the
GSA [2] logo [1] logo, add additional fields to distinguish different systems
GSV [2] Logo [2] Logo
[1] Logo: If only satellites such as BD, GPS, GLONASS, Galileo are used for location The solution is BD, GP, GL, GA, etc., and if a satellite of a plurality of systems is used to obtain a position solution, the transmission identifier is GN.
[2] Identification: GP (GPS satellite), BD (BDS satellite), GL (GLONASS satellite)
As described in Section 1.1, the CASIC receiver supports three versions of the NMEA0183 protocol standard. The differences between the three standards are listed below.
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NMEA2.2 and 2.3/4.0 are mainly related to: 1) Positioning mode in GLL, RMC and VTG statements (Mode) ) One does not output. 2) The positioning quality (FS) in the GGA statement, both the track estimation and the normal positioning are used. 1. (The track estimation is set to 6 in 2.3) The
NMEA 4.1 protocol adds some fields to the 4.0: 1 ) Add a systemId entry to the GSA statement. 2) Add a signalId entry to the GSV statement. 3) Add the navStatus item to the RMC statement. For details, please refer to the NMEA statement introduction section in Section 1.5.
1.3.4 Field Type
Field Type Symbol Definition Private Format Field Status A Single character field:
A=Yes, data is valid, alarm flag is cleared; V=No, data is invalid, alarm flag is set. Latitude ddmm.mmmm Fixed/variable length field
dd indicates a fixed length of 2 degrees, mm before the decimal point indicates a fixed length of 2 points, and mmmm after the decimal point indicates a variable length decimal point. Longitude dddmm.mmmm Fixed/variable length field
ddd indicates a fixed length of 3 degrees, mm before the decimal point indicates a fixed length of 2 points, and mmmm after the decimal point indicates a variable length decimal point. Time hhmmss.sss The fixed length field
hh represents a fixed length of 2 hours, mm represents a fixed length of 2 minutes, ss before the decimal point represents a fixed length of 2 seconds, and sss after the decimal point represents a fixed length of 3 fractional seconds. Determining Fields Some fields specify constants for predefined. Numeric field variable number xx variable length or floating point number field fixed hex field hh___ fixed length hexadecimal number, most significant bit on left variable hex field h--h variable length Hexadecimal number, most significant bit in the left information field fixed letter field aa___ fixed length uppercase or lowercase alphabet character field fixed number field xx___ fixed length numeric character field variable text c--c variable length valid character field
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1.4 NMEA Message Overview
Page Message Name Class/ID Description
NMEA Standard Message Standard Message GGA 0x4E 0x00 Receiver Positioning Data GLL 0x4E 0x01 Location— —Latitude/Longitude GSA 0X4E 0x02 Precision Factor (DOP) and Effective Satellite GSV 0x4E 0x03 Visible Satellite RMC 0x4E 0x04 Recommended Minimum Special Navigation Data VTG 0x4E 0x05 Ground Speed and Heading ZDA 0x4E 0x08 Time and Date TXT 0x4E 0x11 Text Transfer
NMEA Self Define Message Custom Message CAS00 - Save Configuration Information CAS01 - Communication Protocol and Serial Port Configuration Information CAS02 - Settings Bit update rate CAS03 - Enable or disable output information and its frequency CAS04 - Set initialization system and channel number CAS05 - Set sender identifier for NMEA statement CAS06 - Query module hardware and software information CAS10 - Start mode and auxiliary information configuration CAS20 - Online Upgrade Directive
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1.5 NMEA Standard Message
1.5.1 GGA
Information GGA Description Receiver Time, Position and Positioning Related Data Type Output Format $-- GGA, UTCtime, Lat, uLat, Lon, uLon, FS, numSv, HDOP, Msl, uMsl, Sep, uSep, DiffA
ge, DiffSta*CS<CR><LF> Example $GPGGA, 235316.000, 2959.9925, S, 12000.0090, E,1,06,1.21,62.77,M,0.00,M,,*7B Parameter Description Field Name Format Parameter Description 1 $--GGA String Message ID, GGA Statement Header, '--' is System ID 2 UTCtime hhmmss .sss Current positioning UTC time 3 Lat ddmm.mmmm Latitude, first 2 characters, followed by 4 uLat Character latitude: N-North, S-South 5 Lon dddmm.mmm
m
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longitude, the first 3 characters representation, the following character table Shows points
6 uLon characters longitude direction: the number of satellites E- east, west W- 7 FS value indicating the current location of the mass (Notes [1]), this field should be empty 8 numSv value for positioning, 00 ~ 24 9 HDOP Numerical Horizontal Accuracy Factor (HDOP) 10 Msl Numerical altitude, ie the height of the receiver antenna relative to the geoid. 11 uMsl Character height unit, meters, fixed character M 12 Sep The distance between the numerical reference ellipsoid and the geoid, ‚-‛ indicates that the
geoid is lower than the reference ellipsoid. 13 uSep Character height unit, m, fixed character M 14 DiffAge Numerical difference corrected data age, this field is empty when DGPS is not used 15 DiffSta Numerical differential reference station ID 16 CS 16 hexadecimal checksum value (and not including the $ *) all the characters of the exclusive oR and between, $ * and
result17 <CR> <LF> character carriage return linefeed Notes [1]positioning the positioning mark mass mass Flag Description 0 Positioning is unavailable or invalid 1 SPS Positioning mode, positioning is valid 6 Estimation mode (dead reckoning)Only NMEA 2.3 and above is valid.
Hangzhou Zhongke Microelectronics Co., Ltd. Internal Document
1.5.2 GLL
Information GLL Description Latitude, Longitude, Lettering time and positioning status . Type Output Format $--GLL,Lat,uLat,Lon,uLon, UTCtime,valid,Mode*CS<CR><LF> Example $GPGLL,2959.9925,S,12000.0090,E,235316.000,A,A*4E Parameter Description Field Name Format Parameter Description 1 $--GLL String Message ID, GLL statement header, '--' is the system identifier 2 Lat ddmm.mmmm Latitude, the first 2 characters indicate the degree, the following characters indicate the 3 uLat character latitude direction: N-North, S-South 4 Lon dddmm.mmm
m
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longitude, the first 3 characters, the following characters indicate
5 uLon Character longitude direction: E-East, W- West 6 UTCtime hhmmss.sss UTC time of current positioning 7 Valid Character data validity (Note [1]) 8 Mode Character positioning mode (Note [2]),valid only for NMEA 2.3 and above 9 CS 16-digit value verification and between, and $ * (and not including the $ *) all the characters of the exclusive oR
result10 <CR> <LF> character carriage return linefeed Notes [1] data quality flag validity flag positioned description a data valid V Data invalid comment [2] Positioning mode flag Positioning mode flag description A Autonomous mode E Estimation mode (dead reckoning) N Data invalid D Differential mode
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1.5.3 GSA
Information GSA Describes the satellite number and DOP information used for positioning. The GSA statement is output regardless of whether it is located or whether there are satellites available. When the receiver is working in multiple systems, the available satellites of each system correspond to one GSA statement, and each GSA statement contains PDOP and HDOP obtained from the combined satellite system. And VDOP. Type output format $--GSA, Smode, FS{, SVID}, PDOP, HDOP, VDOP*CS<CR><LF> Example $GPGSA, A, 3, 05, 21, 31, 12, 18, 29,, ,,,,,2.56,1.21,2.25*01 Parameter Description Field Name Format Parameter Description 1 $--GSA String Message ID, GSA Statement Header, '--' is the system ID 2 Smode Character Mode Switching Mode Indication (Remarks [ 1]) 3 FS Digital Positioning Status Flag (Remark [2]) 4 {, SVID} The value is used to locate the satellite number. This field displays a total of 12 available satellite numbers. When there are more than 12, only the first 12 are output. 12 insufficient area fill-in 5 PDOP Numerical Position Accuracy Factor (PDOP) 6 HDOP Numerical Level Accuracy Factor (HDOP) 7 VDOP Numerical Vertical Accuracy Factor (VDOP) 8 systemId Numerical NMEA Defined GNSS System ID Number (Note [3 ])
NMEA 4.1 and above only valid hexadecimal value 9 CS 16 (and not including the $ *) all the characters of the exclusive oR between the and the checksum, and $ *
result10 <CR> <LF> character line feed and carriage return Note [1] Mode switching mode indication mode switching mode indication description M manual switching. Forced to automatically switch to 2D or 3D working mode A. Receiver automatically switches 2D/3D working mode Remarks [2] Positioning status flag Positioning status description 1 Positioning invalid 2 2D Positioning 3 3D Positioning Remarks [3] GNSS System ID System ID Description 1 GPS System 2 GLONASS System 4 BDS System
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1.5.4 GSV
Information GSV Describes the satellite number of the visible satellite and its elevation, azimuth, and carrier-to-noise ratio. Each satellite GSV {statement
number,elevation, azimuth, CNR} variable number of parameters, up to 4 groups, minimum of 0 group. Type output format $--GSV, NumMsg, MsgNo, NumSv{, SVID, ele, az, cn0} *CS<CR><LF> Example $GPGSV,3,1,10,25,68,053,47,21,59,306 ,49,29,56,161,49,31,36,265,49*79 $GPGSV,3,2,10,12,29,048,49,05,22,123,49,18,13,000,49,01,00,000,49*72 $GPGSV,3,3,10,14,00,000,03,16,00,000,27*7C Parameter Description Field Name Format Parameter Description 1 $--GSA String Message ID, GSA Statement Header, '--' is the system ID 2 Total number of NumMsg character statements. Each GSV statement outputs up to 4 visible satellite information, so when the system has more than 4 visible satellites, multiple GSV statements will be required. 3 MsgNo number current statement number 4 NumSv value visible total number of satellites 5 {, SVID, ele,
az, cn0}
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numerical values are:
satellite number; elevation angle, the value range is 0~ 90, the unit is degree; the azimuth angle, the value range is 0~359, the unit is degree; the carrier-to-noise ratio, the value range is 0~99, the unit is dB-Hz, if there is no tracking to the current satellite, fill the void (remarks) [3]) 6 signalId value NMEA defined GNSS signal ID (0 for all signals)
valid only for NMEA 4.1 and above 7 CS hexadecimal value checksum, between $ and * (excluding $ and *) character XOR
result8 <CR> <LF> character carriage return linefeed
Hangzhou Branch Microelectronics Co.within the document
1.5.5 RMC
informationdescribe the recommended minimum RMC type of location information output format $ - RMC, UTCtime, Status,Lat,uLat,Lon,uLon,Spd,Cog,Date,mv,mvE,mode*CS<
CR><LF> Example $GPRMC,235316.000,A,2959.9925,S,12000.0090,E,0.009,75.020,020711 ,,,A*45 Parameter Description Field Name Format Parameter Description 1 $--RMC String Message ID, RMC Statement Header, '--' is the system ID 2 UTCtime hhmmss.sss Current Positioned UTC Time 3 status Valid flag string position.
V=receiver warning, data invalid A=data valid 4 Lat ddmm.mmmm latitude, first 2 characters, degree followed by 5 uLat character latitude direction: N-north, S-south 6 Lon dddmm.mmm
m
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longitude, first 3 character representation, followed by character representation
7 uLon character longitude direction: E-east, W-west 8 Spd value to ground speed, in units of 9 Cog True to the ground, the unit is 10 Date ddmmyy Date (dd is day, mm is month, yy is year) 11 mv Numerical magnetic declination, in degrees. Fixed to empty 12 mvE character magnetic declination direction: E-East, W-West. Fixed to empty 13 mode Character positioning mode flag (Note [1])
Only valid for NMEA 2.3 and above 14 navStatus Character navigation status identifier (V means the system does not output navigation status information)
Only NMEA 4.1 and above is valid 15 CS 16 between the system and the checksum value, and $ * (and not including the $ *) all the characters of the exclusive oR
result16 <CR> <LF> character carriage return linefeed Notes [1] flag positioning mode described positioning mode flag a Autonomous Mode E Estimation Mode (Dead Estimation) N Data Invalid D Differential Mode
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1.5.6 VTG
Information VTG Describes ground speed and ground heading information. Type output format $--VTG, Cogt, T, Cogm, M, Sog, N, kph, K, mode*CS<CR><LF> Example $GPVTG, 75.20, T, M, 0.009, N, 0.017, K, A*02 Parameter Description Field Name Format Parameter Description 1 $--VTG String message ID, VTG statement header, '--' is the system identifier 2 Cogt value to the true north heading, the unit is 3 T character true north Indication, fixed to T 4 Cogm value to geomagnetic north heading, unit is 5 M character magnetic north indication, fixed to M 6 Sog numerical ground speed, unit is 7 N character speed unit section, fixed to N 8 kph value to ground Speed, in kilometers per hour, 9 K character speed units, kilometers per hour, fixed to K 10 mode Character positioning mode flag (remark [1])
valid only for NMEA 2.3 and above 11 CS 16-digit value checksum , and between $ * (and not including the $ *) all the characters of the exclusive-oR
result12 <CR> <LF> character carriage return linefeed Notes [1] flag positioning mode flag positioning mode described autonomous mode a mode estimate E (dead reckoning) N D data is invalid differential mode
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1.5.7 ZDA
describe the time and date information ZDA Information. Type output format $--ZDA, UTCtime, Day, Month, Year, Ltzh, Ltzn*CS<CR><LF> Example $GPZDA,235316.000,02,07,2011,00,00*51 Parameter Description Field Name Format Parameters Description 1 $--ZDA string message ID, ZDA statement header, '--' is the system identifier 2 UTCtime hhmmss.sss UTC time when positioning 3 Day value date, fixed two digits, value range 01~31 4 Month Value month, fixed two digits, value range 01~12 5 Year Value year, fixed four digits 6 Ltzh Value time zone hour, not supported, fixed to 00 7 Ltzn value time zone minute, not supported, fixed to 00 8 hexadecimal values between checksum CS 16, and $ * (and not including the $ *) of all characters XOR
result9 <CR> <LF> character carriage return linefeed
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1.5.8 TXT
1) Product Information TXT Description Product information type output, output format once at boot time $GPTXT, xx, yy, zz, info*hh<CR><LF > Example $GPTXT, 01, 01, 02, MA=CASIC*27
indicates the manufacturer's name (CASIC) $GPTXT, 01, 01, 02, IC=ATGB03 + ATGR201*71 Indicates the chip or chipset model (baseband chip model) ATGB03, RF chip model ATGR201) $GPTXT,01,01,02,SW=URANUS2,V2.2.1.0*1D Indicates the software name and version number (software name URANUS2, version number V2.2.1.0) $GPTXT,01 , 01, 02, TB=2013-06-20, 13:02:49*43 Indicates the code compile time (June 20, 2013, 13:02:49) $GPTXT,01,01,02,MO= GB*77 indicates the working mode of the receiver's current startup (GB indicates dual mode of GPS+BDS) $GPTXT,01,01,02,CI=00000000*7A indicates the customer number (customer number is 00000000) Parameter description field name Format parameter description 1 $GPTXT string message ID, TXT statement header 2 xx value The total number of statements in the current message is 01~99. If a message is too long, it
needs to be divided into multiple pieces of information to display 3 yy. Numerical statement number 01~99 4 zz Numeric text identifier.
00=error information; 01=warning information; 02=notification information; 07=user information. 5 info text information (not including $ and *) of all characters between the of the exclusive OR 6 CS 16 hexadecimal checksum value, and $ *
result7 <CR> <LF> character carriage return linefeed
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2) Antenna Status Information TXT Description Antenna Status Type Output Format $GPTXT, xx, yy, zz, info*hh<CR><LF> Example $GPTXT , 01, 01, 01, ANTENNA OPEN * 25
indicates the antenna status (open circuit) $GPTXT, 01, 01, 01, ANTENNA OK * 35 indicates the antenna status (good) $GPTXT, 01, 01, 01, ANTENNA SHORT * 63 Antenna Status (Short Circuit) Parameter Description Field Name Format Parameter Description 1 $GPTXT String Message ID, TXT Statement Header 2 xx Value The total number of statements in the current message is 01~99. If a message is too long, it
needs to be divided into multiple pieces of information. Fixed to 01. 3 yy The numerical statement number is 01~99 and is fixed to 01. 4 zz Numeric text identifier. Fixed to 01. 5 info text information
ANTENNA OPEN = open antenna ANTENNA OK = good antenna short circuit between the antenna ANTENNA SHORT = 6 CS 16 hexadecimal checksum value, and $ * (and not including the $ *) of all characters XOR
result7 < CR><LF> Character Enter and
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Line Feed3) Leap Second Information TXT Description Leap Second Information Type Output Format $GPTXT,xx ,yy,zz,system,valid,utcLS,utcLSF,utcTOW,utcWNT,utcDN,utcWNF,utcA0,utcA1,leapDt*hh<CR><LF> Example $GPZDA,090748.000,29,09,2013,00,00* 56 The
current UTC time is September 29, 2013, 09:07:48 $GPTXT, 01,01,02, LS=0,3,16,16,57,224,7,158,0,-5,-39344868* 5B GPS's leap second information is valid and used for timing. The current leap second and leap second events are the same, all 16 seconds, indicating that the leap second event has taken effect, and the leap second event occurred before 39344868 (that is, June 30, 2012) End of time) $GPTXT,01,01,02,LS=1,1,2,2,0,148,7,82,4,0,-39344868*5B Beidou's leap second information is valid for timing, current 闰The seconds and leap seconds events are the same, both are 2 seconds, indicating that the leap second event has Effective, the leap second event occurred before 39344868 (that is, the end of June 30, 2012). Note: GPS and Beidou's leap seconds are different because their time start reference points are different. Parameter Description Field Name Format Parameters Description 1 $GPTXT string message ID, TXT statement header 2 xx value The total number of statements in the current message is 01~99. If a message is too long, it
needs to be divided into multiple pieces of information and fixed to 01. 3 yy The numerical statement number is 01~99 and is fixed to 01. 4 zz Numeric text identifier. Fixed to 02. 5 system The system corresponding to the leap second information.
0=GPS 1=BDS (Beidou) 6 LS= String leap second message identifier, fixed character. 7 valid character leap second information valid flag. When a plurality of satellite positioning systems combined,
onlyone of which is used for system timing (1PPS calibration and UTC time) 0 = 1 = leap second leap second information is invalid information is valid, but the system is not used for timing leap second information is invalid 2 = , but the system has been used to give time 3 = leap second information is valid, and the system has been used to give the time 8 utcLS value the current leap second, in seconds, the positive number represents the satellite time ahead UTC
time 9 utcLSF numerical forecast of the leap second ( after the incident leap seconds), in seconds, a positive number table
shows the satellite time reference time ahead of UTC UTC time 10 utcTOW correction parameter value, weeks, the unit is the reference value of time in seconds UTC 11 utcWNT correction parameter, weeks, The unit is week, modulo 256 12 utcDN The number of hours in which the leap second occurs, the number of days in the week, the range of values is 1~7, 1 means the end of Sunday, 2 means the end of Monday, and so on, 7 means the end of Saturday 13 utcWNF The moment when the leap second occurs, the number of weeks, the unit is the week, the modulo 256 14 utcA0 The time error of the UTC time and the satellite time (scale factor 2^-30),
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15 utcA1 seconds UTC time value and the time rate of change of the satellite time error (scale factor
2 ^ -50), occurs in time units of seconds / sec 16 leapDt value leap second event timedistance between the current UTC
separationtime,a positive number indicates a hexadecimal value between 17 CS 16 checksum, and $ * (and not including the $ *) all the characters of the exclusive oR leap second event in the future
result18 <CR> <LF> character line feed and carriage returnFu
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1.6 NMEA custom message
1.6.1 CAS00
informationCAS00 described current configuration information to the FLASH, even if the receiver is completely de-energized, The information in FLASH is not lost. Type input format $PCAS00*CS<CR><LF> Example $PCAS00*01 Parameter Description Field Name Format Parameter Description 1 $PCAS00 String Message ID, Statement Head 2 CS 16-digit value checksum, between $ and * (and not including the $ *) of all characters XOR
result3 <CR> <LF> character carriage return linefeed
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1.6. 2 CAS01
information CAS01 Description Sets the serial communication baud rate. Type input format $PCAS01,br*CS<CR><LF> Example $PCAS01,1*1D Parameter Description Field Name Format Parameter Description 1 $PCAS01 String Message ID, Statement Head 2 br Digital Baud Rate Configuration.
0 = 4800bps 1 = 9600bps 2 =and not including the $ *) of all characters XOR between 115200bps 3 CS 16 hexadecimal checksum value, and $ *
result4 <CR><LF> Character Enter and
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Line Feed1.6.3 CAS02
Information CAS02 Description Sets the positioning update rate. Type input format $PCAS02,fixInt*CS<CR><LF> Example $PCAS02,1000*2E Parameter Description Field Name Format Parameter Description 1 $PCAS02 String Message ID, Statement Head 2 fixInt Numeric Positioning Update Interval, in ms .
1000=Update rate is 1Hz, output 1 positioning point per second 500=Update rate is 2Hz, output 2 positioning points per second 250=Update rate is 4Hz, output 4 positioning points per second 200=Update rate is 5Hz, each 5 seconds output update rate setpoint 100 = 10Hz, 10 outputs per second anchor point 3 CS 16 and a hexadecimal value between checksum, and $ * (and not including the $ *) of all characters XOR
result4 <CR><LF> Character Enter and
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Line Feed1.6.4 CAS03
Information CAS03 Description Sets the NMEA statement that requires output or stop output. Type input format $PCAS03, nGGA, nGLL, nGSA, nGSV, nRMC, nVTG, nZDA, nTXT*CS<CR><LF> Example $PCAS03,1,1,1,1,1,1,0,1*03 Parameter Description Field Name Format Parameter Description 1 $PCAS03 String Message ID, Statement Head 2 nGGA Value GGA Output Frequency, the statement output frequency is based on the positioning update rate, and n (0~9) indicates that it is output once every n times. 0 means the statement is not output, and empty is the original configuration. 3 nGLL value GLL output frequency, same as nGGA 4 nGSA value GSA output frequency, same as nGGA 5 nGSV value GSV output frequency, same as nGGA 6 nRMC value RMC output frequency, same as nGGA 7 nVTG value VTG output frequency, same as nGGA 8 nZDA value ZDA output frequency, with nGGA 9 nTXT TXT output frequency values, with decimal between nGGA 10 CS 16 checksum value, and $ * (and not including the $ *) all the characters of the exclusive oR
result11 <CR> <LF> character Carriage and
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Line Feed1.6.5 CAS04
Information CAS04 Description Configuration Work System. Type input format $PCAS04, mode*hh<CR><LF> Example $PCAS04,3*1A Beidou and GPS dual mode $PCAS04, 1*18 single GPS working mode $PCAS04, 2*1B Single Beidou working mode parameter description field Name Format Parameter Description 1 $PCAS04 String Message ID, Statement Head 2 mode Digital Work System Configuration. For the featured product models, the following partial configurations are supported. 1=GPS 2=BDS 3=GPS+BDS 4=GLONASS 5=GPS+GLONASS 6=BDS+GLONASS 7=GPS+BDS+GLONASS 3 CS 16-digit checksum, between $ and * (excluding $ and *) of all characters XOR
result4 <CR> <LF> character carriage return linefeed
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1.6.6 CAS05
informationCAS05 Description Sets the NMEA protocol type selection. Multi-mode navigation receivers have a wide variety of protocol types and data protocol standards
. The receiver products can support multiple protocols(optional configuration). Type input format $PCAS05, ver*CS<CR><LF> Example $PCAS05,1*19 Parameter Description Field Name Format Parameter Description 1 $PCAS05 String Message ID, Statement Head 2 mode Number NMEA Protocol Type Selection (Note [1 ]) between 3 CS 16 hexadecimal checksum value, and $ * (and not including the $ *) of all characters XOR
result4 <CR> <LF> character carriage return linefeed Notes [1] NMEA protocol Type selection 2 Compatible with NMEA 4.1 or later 5 Compatible with China Transportation Information Center's BDS/GPS dual-mode protocol, compatible with NMEA version 2.3 and above, compatible with
NMEA4.0 protocol,default protocol 9 compatible with single GPS NMEA0183 protocol, compatible with NMEA 2.2 version
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1.6.7 CAS06
Information CAS06 Description Query Product Information Type Input Format $PCAS06,info*CS<CR><LF> Example $PCAS06,0* 1B Parameter Description Field Name Format Parameter Description 1 $PCAS06 String Message ID, Statement Head 2 info The type of information for the product. The information content refers to 1.5.8.
0=Query firmware version number 1=Query hardware model and serial number 2=Query working mode of multimode receiver 3=Customer number of query product 5=Query upgrade code information 3 CS 16-digit checksum, $ and * between (and not including the $ *) of all characters XOR
result4 <CR> <LF> character carriage return linefeed
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1.6.8 CAS10
Information CAS10 Description Receiver Restart Type Input Format $PCAS10, rs*CS<CR><LF> Example $PCAS10, 0*1C Hot Start $PCAS10, 1*1D Warm Start $PCAS10, 2*1E Cold Start $PCAS10,8*14 Factory Startup $PCAS10,9*15 Factory Startup Parameter Description Field Name Format Parameter Description 1 $PCAS10 String Message ID, Statement Head 2 rs Digital Startup Mode Configuration.
0 = hot start. All data in the backup storage is valid without using initialization information. 1 = warm start. Clear the ephemeris without using initialization information. 2 = cold start. All data except the configuration in the backup storage is cleared without using initialization information. 3 = Factory start. Clear all data in memory and reset the receiver to the factory default configuration. 8= Turn off the serial port output and RF section to respond to the serial port configuration. 9=Start serial output and RF section. Corresponds to 8. Between 3 CS 16 hexadecimal checksum value, and $ * (and not including the $ *) of all characters XOR
result4 <CR> <LF> character carriage return linefeed
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1.6.9 CAS20
Information CAS20 Description Online Upgrade Instruction Type Input Format $PCAS20*CS<CR><LF> Example $PCAS20*03 Parameter Description Field Name Format Parameter Description 1 $ PCAS20 string message ID, sentence head 2 CS 16 between the hexadecimal values checksum, and $ * (and not including the $ *) of all characters XOR
result3 <CR> <LF> character carriage and line feed
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2 CASIC Protocol
2.1 CASIC Protocol Features The
CASIC receiver sends data to the host using a custom CASIC (CASIC Standard Interface Protocol). The data is transmitted in asynchronous serial mode.
2.2 CASIC Protocol Framework
CSIP Packet Structure Field 1 Field 2 Field 3 Field 4 Field 5 Field 6 Message Header Payload Length Message Class Message Number Payload Check Value 0xBA, 0xCE Unsigned Short
2 bytes 1 byte 1 byte <2k bytes Unsigned integer
4 bytes Field 1: Message header (0xBA, 0xCE)
Four hexadecimal characters as the message start delimiter character (message header), occupying two bytes . Field 2: Payload Length (len) The
message length (two bytes) represents the number of bytes occupied by the payload (field 5), excluding the message header, message type, message number, length, and checksum fields. Field 3: The message class
occupies one byte, indicating the basic subset of the current message. Field 4: Message Number (id) The
message class is followed by a one-byte message number. Field 5: The
payload is the specific content of the packet transmission, and its length (number of bytes) is variable and is an integer multiple of 4. Field 6: Checksum (ckSum)
checksum is the sum of words (1 word including 4 bytes) of all data from field 2 to field 5 (including field 2 and field 5), occupying 4 Bytes.
The calculation of the check value can follow the following algorithm: ckSum = (class << 24) + (id << 16) + len; for (i = 0; i < (len / 4); i++) {
ckSum = ckSum + payload In [i]; } , the payload contains all the information of field 5. In the calculation process, the fields from field 2 to field 4 are first assembled (4 bytes form a word), and the data of field 5 is accumulated in the order of 4 bytes (first received in the low order). .
2.3 CASIC Types and Numbers
Each type of interactive message of a CASIC receiver is a collection of related messages.
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Name Type Description NAV 0x01 Navigation Result: Position, Speed, Time TIM 0x02 Timing Message: Time Pulse Output, Time Stamp Result RXM 0x03 Receiver Output measurement information (pseudorange, carrier phase, etc.) ACK 0x05 ACK/NAK Message: Response message to CFG message CFG 0x06 Input configuration message: Configure navigation mode, baud rate, etc. MEAS 0x07 Receiver output channel measurement information (pseudo MSG 0x08 Receiver satellite message information MON 0x0A Monitor message: communication status, CPU load, stack utilization, etc. AID 0x0B Auxiliary message: ephemeris, almanac and other A-GPS data
2.4 CASIC payload definition rule
2.4.1 data Encapsulation
To make it easier to implement structured data encapsulation, the data in the payload portion is arranged in a specific way: the data in each type of message is closely packed, the 2-byte value is placed at an offset of a multiple of 2, and the 4-byte value Place an offset address that is a multiple of 4.
2.4.2 Message Naming The name of a
message consists of a structure of the form message type + message name. For example, the configuration message for configuring PPS is named CFG-PPS.
2.4.3 Data Types
Unless otherwise defined, all numeric values are arranged in little endian format. All floating point values are transmitted in accordance with the IEEE754 single and double precision standards. Abbreviation Type Bytes Remarks U1 Unsigned Character 1 I1 Signed Character 1 Complement U2 Unsigned Short 2 I2 Signed Short 2 Complement U4 Unsigned Long 4 I4 Signed Long 4 Complement R4 IEEE754 Single-Precision 4 R8 IEEE754 Double-Precision 8
2.5 CASIC Message Interaction
The mechanism for defining the input and output of receiver messages. When the receiver receives a CFG type message, it needs to reply to an ACK-ACK or ACK-NACK message according to whether the configuration message is processed correctly. The sender must not send a second CFG message until the receiver replies with a received CFG message. Other messages received by the receiver do not require a reply.
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2.6 CASIC Message Overview
Page Message Name Class/ID Length Type Description
Class NAV NAV Navigation Result NAV-STATUS 0x01 0x00 80 Period Receiver Navigation Status NAV-DOP 0x01 0x01 28 Period Geometric Accuracy Factor NAV-SOL 0x01 0x02 72 Cycle-reduced PVT Navigation Information NAV-PV 0x01 0x03 80 Period Position and Speed Information NAV-TIMEUTC 0x01 0x10 24 Period UTC Time Information NAV-CLOCK 0x01 0x11 64 Period Clock Solution Information NAV-GPSINFO 0x01 0x20 8+12*N Period GPS Satellite Information NAV-BDSINFO 0x01 0x21 8+12*N Period BDS Satellite Information NAV-GLNINFO 0x01 0x22 8+12*N Period GLONASS Satellite Information
Class TIM TIM Time Message TIM-TP 0x02 0x00 24 Periodic timing pulse information
Class RXM RXM Receiver measurement value information RXM-MEASX 0x03 0x00 16+32*N Period pseudorange, carrier phase raw measurement information RXM-SVPOS 0x03 0x01 16+48*N Period satellite position information
Class ACK ACK / NACK message ACK-NACK 0x05 0x00 4 represents a response message reply message is not received ACK-ACK 0x05 0x01 4 transponder reply message right table Message is correctly received
input configuration message Class CFG CFG CFG-PRT 0x06 0x00 0/8 query / set
message query/ UART configuration operating mode CFG-MSG 0x06 0x01 0/4 queries /settings
message query/ configuration information of the transmission frequency CFG-RST 0x06 0x02 4 Set Message Restart Receiver/Clear Saved Data Structure CFG-TP 0x06 0x03 0/16 Query/Set
Message Query/Configure Receiver PPS Related Parameters CFG-RATE 0x06 0x04 0/4 Query/Set
Message Query/Configuration接收机的导航速率 CFG-CFG 0x06 0x05 4 设置消息清除、保存和加载配置信息CFG-TMODE 0x06 0x06 0/28 查询/设置
消息 查询/配置接收机PPS 的授时模式 CFG-NAVX 0x06 0x07 0/44 查询/设置
消息 查询/专业配置导航引擎参数 CFG-GROUP 0x06 0x08 0/56 查询/设置
消息 查询/配置GLONASS 的群延时参数 CFG-POLLMSG 0x06 0x10 4 查询 查询接收机周期性输出语句的输出频
率Class MEAS MEAS 接收机通道测量消息MEAS 0x07 0x00 16+32*32 周期接收机输出通道测量信息
Class MSG MSG 接收机卫星电文信息MSG-BDSUTC 0x08 0x00 20 周期接收机输出BDS 系统UTC 信息。 MSG-BDSION 0x08 0x01 16 周期接收机输出BDS 系统ION 信息。 MSG-BDSEPH 0x08 0x02 92 周期接收机输出BDS 系统星历信息。 MSG-GPSUTC 0x08 0x05 20 周期接收机输出BDS 系统UTC 信息。 MSG-GPSION 0x08 0x06 16 周期接收机输出BDS 系统ION 信息。 MSG-GPSEPH 0x08 0x07 72 周期接收机输出GPS 系统星历信息。 MSG-GLNEPH 0x08 0x08 68 周期接收机输出GLN 系统星历信息。
Class MON MON 监视消息MON-VER 0x0A 0x04 64 响应查询输出版本信息
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MON-HW 0x0A 0x09 56 周期/查询硬件的各种配置状态
Class AID AID 辅助消息AID-INI 0x0B 0x01 56 查询/输入辅助位置、时间、频率、时钟频偏信息AID-HUI 0x0B 0x03 60 查询/输入辅助健康信息、UTC 参数、电离层参数
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2.7 NAV(0x01)
导航结果:位置、速度、时间、精度、航向、几何精度因子和卫星个数等。 NAV 消息又分为几个类型,分别包含不同的信息。
2.7.1NAV-STATUS(0x01 0x00)
信息NAV-STATUS 描述接收机导航状态类型周期/查询注释 消息结构
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头长度(字节) 标识符有效载荷校验和0xBA 0xCE 80 0x01 0x00 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 U2 - fixInterval ms 定位时间间隔6 U1 - posValid - 定位标志(备注[1]) 7 U1 - velValid - 速度标志(备注[2]) 8 U1*32 - gpsMsgFlag - 32 颗GPS 卫星的历书和星历的电文有效性
标志(备注[3]) 40 U1*24 - glnMsgFlag - 24 颗GLONASS 卫星的历书和星历的电文
有效性标志(备注[3]) 64 U1*14 - bdsMsgFlag - 14 颗BDS 卫星的历书和星历的电文有效性
标志(备注[3]) 78 U1 gpsUtcionFlag - GPS 的UTC 和电离层信息的电文有效性标
志(备注[4]) 79 U1 - bdsUtcionFlag - BDS 的UTC 和电离层信息的电文有效性标
志(备注[4]) 备注[1]:定位标志数值描述0 定位� �效1 外部输入位置2 粗略估计的位置3 保持上一次的定位位置4 航位推算5 快速模式定位6 2D 定位7 3D 定位8 GNSS+DR 组合导航备注[2]:速度标志数值描述0 速度无效1 外部输入的速度
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2 粗略估计的速度3 保持上一次的速度4 速度推算5 快速模式的速度6 2D 速度7 3D 速度8 GNSS+DR 组合导航的速度备注[3]:电文有效性标志高4 位表示历书的电文有效性标志,低4 位表示星历的电文有效性标志数值描述0 缺失1 不健康2 过期3 有效备注[4]:电文有效性标志高4 位表示UTC 参数的电文有效性标志,低4 位表示电离层参数的电文有效性标志数值描述0 缺失1 不健康2 过期3 有效
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2.7.2NAV-DOP(0x01 0x01)
信息NAV-DOP 描述定位精度因子类型周期/查询注释DOP 值都没有量纲
消息 结构
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头长度(字节) 标识符有效载荷校验和0xBA 0xCE 28 0x01 0x01 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runtime ms 距离开机/复位的运行时间4 R4 - pDop - 位置DOP 8 R4 - hDop - 水平DOP 12 R4 - vDop - 垂直DOP 16 R4 - nDop - 北向DOP 20 R4 - eDop - 东向DOP 24 R4 - tDop - 时间DOP
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2.7.3NAV-SOL(0x01 0x02)
信息NAV-SOL 描述ECEF 坐标系下的PVT 导航信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范34 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 72 0x01 0x02 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 U1 - posValid - 定位标志(备注[1]) 5 U1 velValid - 速度标志(备注[2]) 6 U1 - timeSrc - 时间源(备注[3]) 7 U1 - system - 接收机的多模接收模式掩码(备注[4]) 8 U1 - numSV - 参与解算的卫星总数9 U1 - numSVGPS - 参与解算的GPS 卫星数目10 U1 - numSVBDS - 参与解算的BDS 卫星数目11 U1 - numSVGLO
NASS - 参与解算的GLONASS 卫星数目 12 U2 - res - 保留14 U2 - week - 周数16 R8 - tow s 周内时24 R8 - ecefX m ECEF 坐标系中的X 坐标32 R8 - ecefY m ECEF 坐标系中的Y 坐标40 R8 - ecefZ m ECEF 坐标系中的Z 坐标48 R4 - pAcc M^2 3D 位置的估计精度52 R4 - ecefVX m/s ECEF 坐标系中的X 速度56 R4 - ecefVY m/s ECEF 坐标系中的Y 速度60 R4 - ecefVZ m/s ECEF 坐标系中的Z 速度64 R4 - sAcc (m/s)^2 3D 速度的估计精度68 R4 - pDop - 位置DOP 备注[1]:定位标志数值描述0 定位无效1 外部输入位置2 粗略估计的位置3 保持上一次的定位位置4 航位推算5 快速模式定位6 2D 定位7 3D 定位8 GNSS+DR 组合导航备注[2]:速度标志数值描述
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0 速度无效1 外部输入的速度2 粗略估计的速度3 保持上一� �的速度4 速度推算5 快速模式的速度6 2D 速度7 3D 速度8 GNSS+DR 组合导航的速度备注[3]:时间源时间源描述0 GPS 授时,即周内时间和星期数是从GPS 卫星中获得的接收机本地时间1 BDS 2 GLONASS 3 RTC 备注[4]:多模接收模式比特描述B0 1=GPS 卫星用于定位B1 1=BDS 卫星用于定位B2 1=GLONASS 卫星用于定位
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2.7.4 NAV-PV(0x01 0x03)
信息NAV-PV 描述大地坐标系下的位置与速度信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范36 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 80 0x01 0x03 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 U1 - posValid - 定位标志(备注[1]) 5 U1 velValid - 速度标志(备注[2]) 6 U1 - system - 接收机的多模接收模式掩码(备注[4]) 7 U1 - numSV - 参与解算的卫星总数8 U1 - numSVGPS - 参与解算的GPS 卫星数目9 U1 - NumSVBDS - 参与解算的BDS 卫星数目10 U1 - numSVGLO
NASS - 参与解算的GLONASS 卫星数目 11 U1 - res - 保留12 R4 - pDop - 位置DOP 16 R8 - lon ° 经度24 R8 - lat ° 纬度32 R4 - height m 大地高度(以椭球体为参考) 36 R4 - sepGeoid m 高度异常(大地高度与海拔高度的差值) 40 R4 - hAcc m^2 水平位置精度44 R4 - vAcc m^2 垂直位置精度48 R4 - velN m/s ENU 坐标系中的北向速度52 R4 - velE m/s ENU 坐标系中的东向速度56 R4 - velU m/s ENU 坐标系中的天向速度60 R4 - speed3D m/s 3D 速度64 R4 - speed2D m/s 2D 对地速度68 R4 - heading ° 航向72 R4 - sAcc (m/s)^2 对地速度的精度76 R4 - cAcc °^2 航向的精度
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2.7.5NAV-TIMEUTC(0x01 0x10)
信息NAV-TIMEUTC 描述UTC 时间信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范37 / 75 头长度(字� ��) 标识符有效载荷校验和0xBA 0xCE 24 0x01 0x10 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 R4 - tAcc s^2 时间估计精度8 R4 - msErr ms 毫秒取整后的残留误差12 U2 - ms ms UTC 时间的毫秒部分,取值范围为0~999 14 U2 - year year UTC 年(1999~2099) 16 U1 - month Month UTC 月(1~12) 17 U1 - day Day UTC 月内天(1~31) 18 U1 - hour Hour UTC 天内小时(0~23) 19 U1 - min min UTC 时内分(0~59) 20 U1 - sec s UTC 分内秒(0~59) 21 U1 - valid - 时间有效标志(备注[1]) 22 U1 - timeSrc - 授时系统标志(备注[2]) 23 U1 - res - 保留备注[1]:时间有效标志数值描述0 时间无效1 RTC 时间2 根据卫星发射时间粗略估计的时间3 未定义4 时间推算5 快速模式获得的时间6 未定义7 精确获得的时间备注[2]:授时系统标志数值描述0 GPS 授时1 BDS 授时2 GLONASS 授时
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2.7 .6NAV-CLOCK(0x01 0x11)
信息NAV-CLOCK 描述时钟解算信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范38 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 64 0x01 0x11 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 R4 1/c freqBias s/s 时钟漂移(时钟频率偏差) 8 R4 - tAcc s^2 时间精度12 R4 1/c^2 fAcc - 频率精度重复部分开始(N=0 表示GPS,1 表示BDS,2 表示GLONASS) 16+16*N R8 - tow ms 周内时间24+16*N R4 - dtUtc s 卫星时间与UTC 时间差的小数秒部分28+16*N U2 - wn - 周数30+16*N I1 - leapS - UTC 跳秒,卫星时间与UTC 时间差的整
数秒部分31+16*N U1 - valid - 时间有效性标志重复部分结束,N 最大值为(SYSTEM_ALL-1),当前版本其值为2
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2.7.7NAV-GPSINFO(0x01 0x20)
信息NAV-GPSINFO 描述GPS 卫星信息类型周期/查询注释每条语� �只包含同一个卫星系统的卫星信息,对于多个系统,该语句会输出多条
消息 结构
CASIC 多模卫星导航接收机协议规范39 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 8+12*N 0x01 0x20 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime - 距离开机/复位的运行时间4 U1 - numViewSv - 可见卫星数目,有效范围0~32 5 U1 - numFixSv - 用于定位的卫星数目6 U1 system - 系统类型(备注[1]) 7 U1 - res 保留重复部分开始(N=numViewSv,有效范围0~32) 8+12*N U1 - chn - 通道号9+12*N U1 - svid - 卫星编号10+12*N U1 - flags - 卫星状态掩码(备注[2]) 11+12*N U1 - quality - 信号测量的质量指示(备注[3]) 12+12*N U1 - CN0 dB-Hz 信号载噪比13+12*N I1 - elev ° 卫星仰角(-90~90) 14+12*N I2 - azim ° 卫星方位角(0~360) 16+12*N R4 - prRes m 伪距残差重复部分结束备注[1]:系统类型数值描述0 GPS 1 BDS 2 GLONASS 备注[2]:卫星状态比特描述B0 1=卫星参与了解算B1 1=卫星的差分修正数据可用B2 1=卫星的轨道信息可用(星历或历书) B3 1=卫星轨道信息来自星历B4 1=卫星不健康B5 1=卫星轨道信息来自增强型历书
B7:B6
00=没有预测信息01=禁止捕获10=由估计位置得到的预测信息11=由准确位置得到的预测信息备注[3]:信号测量的质量指示数值描述0 卫星空闲,没有分配通道
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1 捕获过程中2 捕获3 信号检测到,但不可用4 码相位锁定5、6 保留7 码相位和载波相位锁定
CASIC 多模卫星导航接收机协议规范40 / 75
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2.7.8NAV-BDSINFO(0x01 0x21)
信息NAV-BDSINFO 描述BDS 卫星信息类型周期/查询注释每条语句只包含同一个卫星系统的卫星信息,对于多个系统,该语句会输出多条
消息 结构
CASIC 多模卫星导航接收机协议规范41 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 8+1 2*N 0x01 0x21 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime - 距离开机/复位的运行时间4 U1 - numViewSv - 可见卫星数目,有效范围0~32 5 U1 - numFixSv - 用于定位的卫星数目6 U1 - system - 系统类型(参考2.7.7 备注[1]) 7 U1 - res 保留重复部分开始(N=numViewSv,有效范围0~32) 8+12*N U1 - chn - 通道号9+12*N U1 - svid - 卫星编号10+12*N U1 - flags - 卫星状态掩码(参考2.7.7 备注[2]) 11+12*N U1 - quality - 信号测量的质量指示(参考 注[3])
2.7.7 备
12+12*N U1 - CN0 dB-Hz 信号载噪比13+12*N I1 - elev ° 卫星仰角(-90~90) 14+12*N I2 - azim ° 卫星方位角(0~360) 16+12*N R4 - prRes m 伪距残差重复部分结束
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2.7.9NAV-GLNINFO(0x01 0x22)
信息NAV-GLNINFO 描述GLONASS 卫星信息类型周期/查询注释每条语句只包含同一个卫星系统的卫星信息,对于多个系统,该语句会输出多条
消息 结构
CASIC 多模卫星导航接收机协议规范42 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 8+12*N 0x01 0x22 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime - 距离开机/复位的运行时间4 U1 - numViewSv - 可见卫星数目,有效范围0~32 5 U1 - numFixSv - 用于定位的卫星数目6 U1 - system - 系统类型(参考2.7.7 备注[1]) 7 U1 - res 保留重复部分开始(N=numViewSv,有效范围0~32) 8+12*N U1 - chn - 通道号9+12*N U1 - svid - 卫星编号10+12*N U1 - flags - 卫星状态掩码(参考2.7.7 备注[2]) 11+12*N U1 - quality - 信号测量的质量指示(参考 注[3])
2.7.7 备
12+12*N U1 - CN0 dB-Hz 信号载噪比13+12*N I1 - elev ° 卫星仰角(-90~90) 14+12*N I2 - azim ° 卫星方位角(0~360) 16+12*N R4 - prRes m 伪距残差重复部分结束
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2.8 TIM(0x02)
2.8.1 TIM-TP(0x02 0x00)
消息名TIM-TP 描述授时脉冲信息类型周期/查询注释 消� ��结构
CASIC 多模卫星导航接收机协议规范43 / 75
头长度(字节) 标识符有效载荷校验和0xBA 0xCE 24 0x02 0x00 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U4 - runTime ms 距离开机/复位的运行时间4 R4 - qErr s 下一个时间脉冲对应的时间量化误差8 R8 - tow s 下一个时间脉冲对应的周内时间16 U2 - Wn - 下一个时间脉冲对应的周数18 U1 - refTime - 参考时间(备注[1]) 19 U1 - utcValid - 有效标志(备注[2]) 20 U4 - Res - 保留备注[1]:授时脉冲参考时间取值描述0 UTC 时间1 卫星时间备注[2]:UTC 参数有效标志取值描述0 缺失1 保留2 过期3 有效
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2.9 RXM(0x03)
测量值消息。
2.9.1 RXM-MEASX(0x03 0x10)
信息RXM-MEASX 描述伪距、载波相位原始测量信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范44 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 16+32*N 0x03 0x10 见下表4 Bytes 有效载荷内容: 字符 偏移
数据 类型
比例 缩放 名字单位描述0 R8 - tow s 接收机时间,周内时8 I2 - wn week 接收机时间,周数10 I1 - leapS - 闰秒值11 U1 - numMeas - 测量值数目,有效范围0~32 12 U1 - recStat - 接收机状态[注1] 13 U1 - timeSource 接收机时间源,0=GPS,1=BDS
14 U1 - rcvrid -
接收机编号。 0=第一个接收机1=第二个接收机。 . . 15 U1 - res1 - 保留重复部分开始(N=numMeas,有效范围0~32) 16+32*N R8 - prMes m 伪距测量值24+32*N R8 - cpMes cycles 载波相位32+32*N R4 - doMes Hz 多普勒测量值36+32*N U1 - gnssid - 系统类型。 0=GPS , 1=BDS ,
2=GLONASS 37+32*N U1 - svid - 卫星编号38+32*N U1 - res2 - 保留39+32*N U1 - glnFreqid - 频率号(偏移量 有效
8),对GLONASS
40+32*N U2 - lockTime s 码环锁定的时间42+32*N U1 - cn0 dB-Hz 载噪比43+32*N U1 - res3 - 保留44+32*N U1 - res4 - 保留45+32*N U1 - res5 - 保留46+32*N U1 - trkStat - 卫星跟踪状态[注2] 47+32*N U1 - res6 - 保留重复部分结束备注[1]:接收机状态
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recStat 说明BIT0 =1,表示leapS 有效(UTC 修正参数有效) BIT1 =1,表示GPS 接收机时钟重置BIT2 =1,表示BDS 接收机时钟重置
备注[2]:卫星跟踪状态recStat 说明BIT0 =1,表示伪距测量值prMes 有效BIT1 =1,表示载波相位测量值cpMes 有效BIT2 =1,表示半周模糊度有效(倒PI 修正有效) BIT3 =1,表示半周模糊度从载波相位测量值中减去了
CASIC 多模卫星导航接收机协议规范45 / 75
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2.9.2 RXM-SVPOS(0x03 0x11)
信息RXM- SVPOS � �述卫星位置信息类型周期/查询注释 消息结构
CASIC 多模卫星导航接收机协议规范46 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 16+48*N 0x03 0x11 见下表4 Bytes 有效载荷内容: 字符 偏移
数据 类型
比例 缩放 名字单位描述0 R8 - tow s 接收机时间,周内时8 I2 - wn week 接收机时间,周数10 U1 - numMeas - 测量值数目,有效范围0~32
11 U1 - rcvrid -
接收机编号。 0=第一个接收机1=第二个接收机。 . . 12 I4 - res2 - 保留重复部分开始(N=numMeas,有效范围0~32) 16+48*N R8 - xm 卫星坐标24+48*N R8 - ym 卫星坐标32+48*N R8 - zm 卫星坐标40+48*N R4 - svdt m 卫星钟差44+48*N R4 - svdf m/s 卫星频率偏差48+48*N R4 - tropDelay m 对流层延迟52+48*N R4 - ionoDelay m 电离层延迟56+48*N U1 - svid - 卫星编号57+48*N U1 - glnFreqid - 频率号(偏移量 有效
8),对GLONASS
58+48*N U1 - gnssid - 系统类型, 0=GPS , 1=BDS ,
2=GLONASS 59+48*N U1 - res3 - 保留60+48*N U4 - res4 - 保留重复部分结束
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2.10 ACK(0x05)
ACK 和NACK 用来回复接收到的CFG 消息。
2.10.1 ACK-NACK(0x05 0x00)
信息ACK-NACK 描述回应未正确接收的信息类型回答注释 消息结构
CASIC 多模卫星导航接收机协议规范47 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 4 0x05 0x00 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U1 - clsID - 未正确接收信息的类型1 U1 - msgID - 未正确接收信息的编号2 U2 - res - 保留
2.10.2 ACK-ACK(0x05 0x01)
信息ACK-ACK 描述回应正确接收的信息类型回答注释 消息结构
头长度(字节) 标识符有效载荷校验和0xBA 0xCE 4 0x05 0x01 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U1 - clsID - 正确接收信息的类型1 U1 - msgID - 正确接收信息的编号2 U2 - res - 保留
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2.11 CFG(0x06)
配置信息,如设置动态模式、波特率等。当有效长度为0 时,代表查询配置信息,系统会输出相同标示符的数据。
2.11.1 CFG-PRT(0x06 0x00)
消息CFG-PRT 描述查询UART 的工作模式类型查询注释 消息结构
CASIC 多模卫星导航接收机协议规范48 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 0 0x06 0x00 0 4 Bytes
消息CFG-PRT 描述设置UART 的工作模式类型设置/响应查询注释 消息结构
头长度(字节) 标识符有效载荷校验和0xBA 0xCE 8 0x06 0x00 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U1 - portID - 端口标识符号(0 和1 对应UART0 和UART1) 1 U1 - protoMask - 协议控制掩码,每个端口可以同时支持几个协
议。相应位等于1 时使能协议(备注[1]) 2 U2 - mode - UART 工作模式的比特掩码(备注[2]) 4 U4 - baudRate bps 波特率备注[1]:协议控制掩码比特描述B0 1=二进制协议输入B1 1=文本协议输入B4 1=二进制协议输出B5 1=文本协议输出备注[2]: UART 工作模式比特掩码比特取值描述[7:6] 00 5bits 01 6bits 10 7bits 11 8bits [11:9] 10x 无校验001 奇校验000 偶校验x1x 保留
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[13:12] 00 一个停止位
01 1.5 个停止位10 两个停止位11 保留
CASIC 多模卫星导航接收机协议规范49 / 75
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2.11.2 CFG-MSG(0x06 0x01)
信息CFG-MSG 描述读取/设置信息发送频率类型读取/设置注释 消息结构
CASIC 多模卫星导航接收机协议规范50 / 75 头长度(字节) 标识符有效载荷校验和0xBA 0xCE 4 0x06 0x01 见下表4 Bytes 有效载荷内容字符 偏移
数据 类型
比例 缩放 名字单位描述0 U1 - clsID - 信息类型1 U1 - msg ID - 信息编号2 U2 - rate - 信息发送频率(备注[1]) 备注[1]:信息发送频率数值描述0 不输出1 每次定位,输出一次2 两次定位,输出一次NN 次定位,输出一次0xFFFF 立即输出一次,且只有一次,相当于查询输出