Quectel BG96 GNSS AT Commands Manual V1.1
Quectel_BG96_GNSS_AT_Commands_Manual_V1.1
User Manual:
Open the PDF directly: View PDF 
.
Page Count: 35
| Download | |
| Open PDF In Browser | View PDF |
BG96 GNSS AT Commands Manual LTE Module Series Rev. BG96_GNSS_AT_Commands_Manual_V1.1 Date: 2018-02-12 Status: Released www.quectel.com LTE Module Series BG96 GNSS AT Commands Manual Our aim is to provide customers with timely and comprehensive service. For any assistance, please contact our company headquarters: Quectel Wireless Solutions Co., Ltd. 7th Floor, Hongye Building, No.1801 Hongmei Road, Xuhui District, Shanghai 200233, China Tel: +86 21 5108 6236 Email: info@quectel.com Or our local office. For more information, please visit: http://www.quectel.com/support/salesupport.aspx For technical support, or to report documentation errors, please visit: http://www.quectel.com/support/techsupport.aspx Or email to: Support@quectel.com GENERAL NOTES QUECTEL OFFERS THE INFORMATION AS A SERVICE TO ITS CUSTOMERS. THE INFORMATION PROVIDED IS BASED UPON CUSTOMERS’ REQUIREMENTS. QUECTEL MAKES EVERY EFFORT TO ENSURE THE QUALITY OF THE INFORMATION IT MAKES AVAILABLE. QUECTEL DOES NOT MAKE ANY WARRANTY AS TO THE INFORMATION CONTAINED HEREIN, AND DOES NOT ACCEPT ANY LIABILITY FOR ANY INJURY, LOSS OR DAMAGE OF ANY KIND INCURRED BY USE OF OR RELIANCE UPON THE INFORMATION. ALL INFORMATION SUPPLIED HEREIN IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. COPYRIGHT THE INFORMATION CONTAINED HERE IS PROPRIETARY TECHNICAL INFORMATION OF QUECTEL WIRELESS SOLUTIONS CO., LTD. TRANSMITTING, REPRODUCTION, DISSEMINATION AND EDITING OF THIS DOCUMENT AS WELL AS UTILIZATION OF THE CONTENT ARE FORBIDDEN WITHOUT PERMISSION. OFFENDERS WILL BE HELD LIABLE FOR PAYMENT OF DAMAGES. ALL RIGHTS ARE RESERVED IN THE EVENT OF A PATENT GRANT OR REGISTRATION OF A UTILITY MODEL OR DESIGN. Copyright © Quectel Wireless Solutions Co., Ltd. 2018. All rights reserved. BG96_GNSS_AT_Commands_Manual 1 / 34 LTE Module Series BG96 GNSS AT Commands Manual About the Document History Revision Date Author Description 1.0 2017-11-23 Matt YE/Vita LV Initial 1. 1.1 2018-02-12 Matt YE/Vita LV BG96_GNSS_AT_Commands_Manual 2. 3. Added geo-fence related AT commands in Chapter 2.10. Modified an error in the example in Chapter 3.3. Added the example for operation of geo-fence function in Chapter 3.4. 2 / 34 LTE Module Series BG96 GNSS AT Commands Manual Contents About the Document ................................................................................................................................... 2 Contents ....................................................................................................................................................... 3 Table Index ................................................................................................................................................... 5 1 Introduction .......................................................................................................................................... 6 1.1. GNSS Turning on/off Procedures ............................................................................................... 6 1.2. NMEA Sentences Type ............................................................................................................... 7 1.3. Introduction of gpsOneXTRA Assistance .................................................................................... 7 2 Description of GNSS AT Commands ................................................................................................. 9 2.1. AT+QGPSCFG GNSS Configurations ..................................................................................... 9 2.1.1 AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port ............................ 9 2.1.2 AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via AT+QGPSGNMEA ........................................................................................................................ 10 2.1.3 AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA Sentences .. 11 2.1.4 AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS NMEA Sentences ..................................................................................................................................... 12 2.1.5 AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA Sentences ..................................................................................................................................... 12 2.1.6 AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA Sentences ..................................................................................................................................... 13 2.1.7 AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA Sentences ..................................................................................................................................... 14 2.1.8 AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation .................. 14 2.1.9 AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically.................... 15 2.2. AT+QGPSDEL Delete Assistance Data ................................................................................. 16 2.3. AT+QGPS Turn on GNSS ...................................................................................................... 17 2.4. AT+QGPSEND Turn off GNSS .............................................................................................. 18 2.5. AT+QGPSLOC Acquire Positioning Information .................................................................... 19 2.6. AT+QGPSGNMEA Acquire NMEA Sentences ....................................................................... 21 2.7. AT+QGPSXTRA Enable gpsOneXTRA Assistance Function ................................................ 22 2.8. AT+QGPSXTRATIME Inject gpsOneXTRA Time ................................................................... 23 2.9. AT+QGPSXTRADATA Inject gpsOneXTRA Data File............................................................ 24 2.10. AT+QCFGEXT Extended Configuration Settings ............................................................... 25 2.10.1 AT+QCFGEXT=“addgeo” Add a Geo-fence................................................................ 25 2.10.2 AT+QCFGEXT=“deletegeo” Delete a Geo-fence........................................................ 27 2.10.3 AT+QCFGEXT=“querygeo” Query the Position with Respect to Geo-fence .............. 28 3 Examples ............................................................................................................................................ 29 3.1. Turn on and off the GNSS......................................................................................................... 29 3.2. Application of GNSS.............................................................................................. 29 3.3. Operation Procedures of gpsOneXTRA Assistance Function .................................................. 30 3.4. Application of Geo-fence Function............................................................................................ 31 BG96_GNSS_AT_Commands_Manual 3 / 34 LTE Module Series BG96 GNSS AT Commands Manual 4 Summary of Error Codes .................................................................................................................. 32 5 Appendix A References..................................................................................................................... 33 BG96_GNSS_AT_Commands_Manual 4 / 34 LTE Module Series BG96 GNSS AT Commands Manual Table Index TABLE 1: SUMMARY OF ERROR CODES ...................................................................................................... 32 TABLE 2: RELATED DOCUMENT .................................................................................................................... 33 TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 33 BG96_GNSS_AT_Commands_Manual 5 / 34 LTE Module Series BG96 GNSS AT Commands Manual 1 Introduction Quectel BG96 module integrates a GNSS engine which supports GPS, BeiDou, Galileo, GLONASS and QZSS systems, and also it supports gpsOneXTRA Assistance technology. The high performance GNSS engine is suitable for various applications where lowest-cost and accurate positioning is needed, and it supports position tracking without network assistance. BG96 GNSS can be applied in the following applications: turn-by-turn navigation, asset tracking, personnel tracking, location-aware games, as well as home and fleet management. 1.1. GNSS Turning on/off Procedures BG96 GNSS supports location calculation without any assistance from the network. GNSS turning on/off procedures are shown below: Step 1: Configure GNSS parameters via AT+QGPSCFG. Step 2: Turn on GNSS via AT+QGPS. Step 3: After GNSS is turned on and position is fixed successfully, the positioning information can be obtained in three ways: 1) NMEA sentences are output to "usbnmea" port by default. Customers can read the port to obtain NMEA sentences. 2) AT+QGPSLOC can be used to obtain positioning information directly, such as latitude, longitude, height, GNSS positioning mode, time, number of satellites, and so on. 3) After enabling via AT+QGPSCFG=“nmeasrc”,1, customers can acquire the specified NMEA sentence via AT+QGPSGNMEA. If is disabled, this command cannot be used. Step 4: GNSS can be turned off in two ways: 1) If the parameter of AT+QGPS is set to 0 in Step 2, GNSS will get position continuously, and it can be turned off via AT+QGPSEND. 2) If reaches the specified value, the GNSS will stop automatically. BG96_GNSS_AT_Commands_Manual 6 / 34 LTE Module Series BG96 GNSS AT Commands Manual 1.2. NMEA Sentences Type The NMEA sentences are compatible with NMEA-0183 Protocol, and all of the standard NMEA sentences have four kinds of prefix, as illustrated below. For GPS sentences, the prefix is “GP”, as below: GPGGA - Global positioning system fix data, such as time, position, etc. GPRMC - Recommended minimum data GPGSV - Detailed satellite data GPGSA - Overall satellite data GPVTG - Vector track and speed over the ground For GLONASS sentences, the prefixes are "GL" and "GN", as below: GLGSV - Detailed satellite data GNGSA - Overall satellite data GNGNS - Positioning system For Galileo sentences, the prefixes are "GA" and "GN", as below: GAGSV - Detailed satellite data GNGSA - Overall satellite data GNGNS - Positioning system For BeiDou sentences, the prefix is "PQ", as below: PQGSV - Detailed satellite data PQGSA - Overall satellite data 1.3. Introduction of gpsOneXTRA Assistance gpsOneXTRA Assistance technology enhances the performance of GNSS, and provides simplified GNSS assistance delivery, including ephemeris, almanac, ionosphere, UTC, health and coarse time assistance for GNSS engine. After activating gpsOneXTRA Assistance, the TTFF (Time to First Fix) can be reduced by 18~30s (or more in harsh environments with weak signals). The assistance data which is obtained from one of the gpsOneXTRA Assistance web servers on the network needs to be updated once a day (or every couple of days). Before using this function, customers need to ensure that the valid gpsOneXTRA assistance data is available first. They need to download a new gpsOneXTRA binary file which contains the data from one of the gpsOneXTRA Assistance web servers via URLs listed below. The files named as xtra2.bin are for GPS+GLONASS and the files named as xtra3grc.bin are for GPS+GLONASS+BeiDou. The exact file BG96_GNSS_AT_Commands_Manual 7 / 34 LTE Module Series BG96 GNSS AT Commands Manual size should be less than 50kB. http://xtrapath1.izatcloud.net/xtra2.bin http://xtrapath2.izatcloud.net/xtra2.bin http://xtrapath3.izatcloud.net/xtra2.bin http://xtrapath1.izatcloud.net/xtra3grc.bin http://xtrapath2.izatcloud.net/xtra3grc.bin http://xtrapath3.izatcloud.net/xtra3grc.bin gpsOneXTRA assistance data needs to be updated regularly. Customers can query the status of gpsOneXTRA data file via AT+QGPSXTRADATA? and then update the data properly. The operation procedures of gpsOneXTRA Assistance function are shown as follows: Step 1: If gpsOneXTRA Assistance is disabled, enable it first via AT+QGPSXTRA and then restart the module to activate the function. Step 2: Query and confirm the current validity of gpsOneXTRA data file via AT+QGPSXTRADATA?. If the data is invalid, perform Step 3~6 then; if the data is valid, turn on GNSS engine according to the procedures described in Chapter 1.1 directly. Step 3: Download file xtra2.bin or xtra3grc.bin to the module via URLs listed above. Step 4: Inject the correct gpsOneXTRA time to GNSS engine via AT+QGPSXTRATIME. Step 5: Inject the valid gpsOneXTRA data file to GNSS engine via AT+QGPSXTRADATA. Step 6: Turn on GNSS engine according to the procedures described in Chapter 1.1. For more detailed information of the AT commands mentioned above, please refer to Chapters 2.7, 2.8 and 2.9 BG96_GNSS_AT_Commands_Manual 8 / 34 LTE Module Series BG96 GNSS AT Commands Manual 2 Description of GNSS AT Commands This chapter mainly introduces the AT commands relating to BG96’s GNSS function. 2.1. AT+QGPSCFG GNSS Configurations The command is used to query and configure various GNSS settings, including NMEA sentences output port, output type of NMEA sentences and more. AT+QGPSCFG GNSS Configurations Test Command AT+QGPSCFG=? Response +QGPSCFG: "outport",("none","usbnmea","uartnmea") +QGPSCFG: "nmeasrc",(0,1) +QGPSCFG: "gpsnmeatype",(0-31) +QGPSCFG: "glonassnmeatype",(0-7) +QGPSCFG: "galileonmeatype",(0,1) +QGPSCFG: "beidounmeatype",(0-3) +QGPSCFG: "gsvextnmeatype",(0,1) +QGPSCFG: "gnssconfig",(0-6) +QGPSCFG: "autogps",(0,1) OK Reference 2.1.1 AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port Write Command AT+QGPSCFG=“outport”[, ] Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “outport”, BG96_GNSS_AT_Commands_Manual 9 / 34 LTE Module Series BG96 GNSS AT Commands Manual OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Configure the output port of NMEA sentences, and the configuration parameter will be automatically saved to NVRAM. “none” Close NMEA sentence output “usbnmea” Output via USB NMEA port “uartnmea” Output via UART3 port Integer type. The error code of operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.2 AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via AT+QGPSGNMEA The command enables/disables acquisition of NMEA sentences via AT+QGPSGNMEA. AT+QGPSCFG=“nmeasrc” AT+QGPSGNMEA Enable/Disable Acquisition of NMEA Sentences via Write Command AT+QGPSCFG=“nmeasrc”[, ] Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “nmeasrc”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter After being enabled, original NMEA sentences can be acquired via AT+QGPSGNMEA, and the configuration parameter will be automatically saved to NVRAM. Meanwhile, sentences are output via the same NMEA ports as before BG96_GNSS_AT_Commands_Manual 10 / 34 LTE Module Series BG96 GNSS AT Commands Manual 0 Disable 1 Enable Integer type. The error code of operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.3 AT+QGPSCFG=“gpsnmeatype” Sentences AT+QGPSCFG=“gpsnmeatype” Write Command AT+QGPSCFG=“gpsnmeatype”[, ] Configure Output Type of GPS NMEA Configure Output Type of GPS NMEA Sentences Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “gpsnmeatype”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Output type of GPS NMEA sentences by ORed, and the configuration parameter will be automatically saved to NVRAM. The default value is 31 which means that all the five types of sentences will be outputted. 0 Disable 1 GGA 2 RMC 4 GSV 8 GSA 16 VTG Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. BG96_GNSS_AT_Commands_Manual 11 / 34 LTE Module Series BG96 GNSS AT Commands Manual 2.1.4 AT+QGPSCFG=“glonassnmeatype” NMEA Sentences Configure Output Type of GLONASS AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS NMEA Sentences Write Command AT+QGPSCFG=“glonassnmeatype”[, ] Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “glonassnmeatype”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Configure output type of GLONASS NMEA sentences by ORed, and the configuration parameter will be automatically saved to NVRAM. The default value is 0. 0 Disable 1 GSV 2 GSA 4 GNS Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.5 AT+QGPSCFG=“galileonmeatype” Sentences Configure Output Type of Galileo NMEA AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA Sentences Write Command AT+QGPSCFG=“galileonmeatype”[,< galileonmeatype>] Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “galileonmeatype”, BG96_GNSS_AT_Commands_Manual 12 / 34 LTE Module Series BG96 GNSS AT Commands Manual OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Configure output type of Galileo NMEA sentences by ORed, and the configuration parameter will be automatically saved to NVRAM. The default value is 0. 0 Disable 1 GSV Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.6 AT+QGPSCFG=“beidounmeatype” Sentences AT+QGPSCFG=“beidounmeatype” Sentences Write Command AT+QGPSCFG=“beidounmeatype”[,< beidounmeatype>] Configure Output Type of BeiDou NMEA Configure Output Type of BeiDou NMEA Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “beidounmeatype”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Configure output type of BeiDou NMEA sentences via ORed, and the configuration parameter will be automatically saved to NVRAM. The default value is 0. 0 Disable BG96_GNSS_AT_Commands_Manual 13 / 34 LTE Module Series BG96 GNSS AT Commands Manual 1 GSA 2 GSV Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.7 AT+QGPSCFG=“gsvextnmeatype” Sentences AT+QGPSCFG=“gsvextnmeatype” Sentences Write Command AT+QGPSCFG=“gsvextnmeatype”[,< gsvextnmeatype>] Enable/Disable Output of GSVEXT NMEA Enable/Disable Output of GSVEXT NMEA Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “gsvextnmeatype”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Enable/disable output of extended GSV information. Elevation/Azimuth/SNR (C/No) will be displayed as decimals when extended information is enabled, otherwise they will be displayed as integers. The configuration parameter will be automatically saved to NVRAM. The default value is 0. 0 Disable 1 Enable Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.1.8 AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation Write Command AT+QGPSCFG=“gnssconfig”[, ] BG96_GNSS_AT_Commands_Manual Response When there are two parameters: OK 14 / 34 LTE Module Series BG96 GNSS AT Commands Manual When the second parameter is omitted, query the current setting: +QGPSCFG: “gnssconfig”, OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Supported GNSS constellation. GPS is always ON. 0 GLONASS OFF/BeiDou OFF/Galileo OFF 1 GLONASS ON/BeiDou ON/Galileo ON 2 GLONASS ON/BeiDou ON/Galileo OFF 3 GLONASS ON/BeiDou OFF/Galileo ON 4 GLONASS ON/BeiDou OFF/Galileo OFF 5 GLONASS OFF/BeiDou ON/Galileo ON 6 GLONASS OFF/BeiDou OFF/Galileo ON Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. NOTE The command will be effective after reboot. 2.1.9 AT+QGPSCFG=“autogps” AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically Enable/Disable GNSS to Run Automatically Write Command AT+QGPSCFG=”autogps”[, ] Response When there are two parameters: OK When the second parameter is omitted, query the current setting: +QGPSCFG: “autogps”, OK BG96_GNSS_AT_Commands_Manual 15 / 34 LTE Module Series BG96 GNSS AT Commands Manual If there is any error related to ME functionality: +CME ERROR: Reference Parameter Enable/disable GNSS to run automatically after the module is powered on. Configuration parameter will be automatically saved to NVRAM. The default value is 0. 0 Disable GNSS to run automatically 1 Enable GNSS to run automatically Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. NOTE The command is only valid when the GNSS works in stand-alone mode. 2.2. AT+QGPSDEL Delete Assistance Data The command is used to delete assistance data so as to operate cold start, hot start and warm start of GNSS. The command can only be executed when GNSS is turned off. After deleting the assistance data via this command, cold start of GNSS can be enforced via AT+QGPS. Hot/warm start can also be performed if the corresponding conditions are satisfied. AT+QGPSDEL Delete Assistance Data Test Command AT+QGPSDEL=? Response +QGPSDEL: (0-3) OK Write Command AT+QGPSDEL= Response OK If there is any error related to ME functionality: +CME ERROR: Reference BG96_GNSS_AT_Commands_Manual 16 / 34 LTE Module Series BG96 GNSS AT Commands Manual Parameter The type of GNSS assistance data to be deleted. 0 Delete all assistance data except gpsOneXTRA data. Enforce cold start after starting GNSS. 1 Do not delete any data. Perform hot start if the conditions are permitted after starting GNSS. 2 Delete some related data. Perform warm start if the conditions are permitted after starting GNSS. 3 Delete the gpsOneXTRA assistance data injected into GNSS engine. Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.3. AT+QGPS Turn on GNSS The command is used to turn on GNSS function. Currently it only supports turning on GNSS in Stand-alone mode (that is, =1). When is 0, GNSS will fix position continuously, and it can be turned off via AT+QGPSEND. When is non-zero and reaches the specified value, GNSS will be turned off automatically. AT+QGPS Turn on GNSS Test Command AT+QGPS=? Response +QGPS: (1-4),(1-255),(1-1000),(0-1000),(1-65535) OK Read Command Read current GNSS state AT+QGPS? Response +QGPS: OK Write Command AT+QGPS= [, [, [, [, ]]]] Response OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter GNSS state 0 GNSS OFF 1 GNSS ON BG96_GNSS_AT_Commands_Manual 17 / 34 LTE Module Series BG96 GNSS AT Commands Manual GNSS working mode 1 Stand-alone 2 MS-based 3 MS-assisted 4 Speed-optimal The maximum positioning time (unit: s). which indicate the response time of GNSS receiver while measuring the GNSS pseudo range, and the upper time limit of GNSS satellite searching. It also includes the time for demodulating the ephemeris data and calculating the position. 1-30-255 Maximum positioning time Accuracy threshold of positioning. Unit: m. 1-50-1000 Number of attempts for positioning. 0–1000 0 indicates continuous positioning. Non-zero values indicate the actual number of attempts for positioning. The interval time between the first and second time positioning. Unit: s. 1–65535 Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.4. AT+QGPSEND Turn off GNSS When GNSS is turned on and is 0, GNSS fixes position continuously. In this case, GNSS can be turned off compulsorily via AT+QGPSEND. When is non-zero, GNSS will be turned off automatically when the parameter reaches the specified value, and thus the command can be ignored. AT+QGPSEND Turn off GNSS Test Command AT+QGPSEND=? Response OK Execution Command AT+QGPSEND Response OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. BG96_GNSS_AT_Commands_Manual 18 / 34 LTE Module Series BG96 GNSS AT Commands Manual 2.5. AT+QGPSLOC Acquire Positioning Information Before executing the command, GNSS must be turned on via AT+QGPS. If it fails in position fix, +CME ERROR: will be returned to indicate the corresponding situation. AT+QGPSLOC Acquire Positioning Information Test Command AT+QGPSLOC=? Response +QGPSLOC: , , , , , , , , , , OK Write Command AT+QGPSLOC= Response +QGPSLOC: , , , , , , , , , , OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Latitude and longitude display format. 0 , format: ddmm.mmmm N/S,dddmm.mmmm E/W 1 , format: ddmm.mmmmmm N/S,dddmm.mmmmmm E/W 2 , format: (-)dd.ddddd,(-)ddd.ddddd UTC time. Format: hhmmss.sss (Quoted from GPGGA sentence). Latitude. If is 0: Format: ddmm.mmmm N/S (Quoted from GPGGA sentence) dd 00-89 (degree) mm.mmmm 00.0000-59.9999 (minute) N/S North latitude/South latitude If is 1: Format: ddmm.mmmmmm N/S (Quoted from GPGGA sentence) dd 00-89 (degree) mm.mmmmmm 00.000000-59.999999 (minute) N/S North latitude/South latitude If is 2: Format: (-)dd.ddddd (Quoted from GPGGA sentence) BG96_GNSS_AT_Commands_Manual 19 / 34 LTE Module Series BG96 GNSS AT Commands Manual dd.ddddd -89.99999-89.99999 (degree) South latitude Longitude. If is 0: Format: dddmm.mmmm E/W (Quoted from GPGGA sentence) ddd 000-179 (degree) mm.mmmm 00.0000-59.9999 (minute) E/W East longitude/West longitude If is 1: Format: dddmm.mmmmmm E/W (Quoted from GPGGA sentence) ddd 000-179 (degree) mm.mmmmmm 00.000000-59.999999 (minute) E/W East longitude/West longitude If is 2: Format: (-)dd.ddddd Quoted from GPGGA sentence) dd.ddddd -179.99999-179.99999 (degree) West longitude Horizontal precision: 0.5-99.9 (Quoted from GPGGA sentence). The altitude of the antenna away from the sea level (unit: m), accurate to one decimal place (Quoted from GPGGA sentence) GNSS positioning mode (Quoted from GNGSA/GPGSA sentence). 2 2D positioning 3 3D positioning Course Over Ground based on true north. Format: ddd.mm (Quoted from GPVTG sentence). ddd 000-359 (degree) mm 00-59 (minute) Speed over ground. Format: xxxx.x; unit: Km/h; accurate to one decimal place (Quoted from GPVTG sentence). Speed over ground. Format: xxxx.x; unit: knots; accurate to one decimal place (Quoted from GPVTG sentence). UTC time when fixing position. Format: ddmmyy (Quoted from GPRMC sentence). Number of satellites, from 00 (The first 0 should be retained) to 12 (Quoted from GPGGA sentence). Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. BG96_GNSS_AT_Commands_Manual 20 / 34 LTE Module Series BG96 GNSS AT Commands Manual 2.6. AT+QGPSGNMEA Acquire NMEA Sentences Before using this command, GNSS must be turned on via AT+QGPS, and set into 1 to enable acquisition of NMEA sentences via AT+QGPSGNMEA. Customers can disable sentences output via AT+QGPSCFG=“gpsnmeatype”/“glonassnmeatype”/ “galileonmeatype”/“beidounmeatype”,0. If sentences output is disabled, AT+QGPSGNMEA can still be used to acquire NMEA sentences on condition that the GNSS has already acquired sentences via this command after its activation. And the sentences acquired via the command will be the last ones that have ever been acquired. AT+QGPSGNMEA Acquire NMEA Sentences Test Command AT+QGPSGNMEA=? Response +QGPSGNMEA: (“GGA”,“RMC”,“GSV”,“GSA”,“VTG”,“G NS”) OK Inquiry Command Query GGA sentence AT+QGPSGNMEA=“GGA” Response +QGPSGNMEA: GGA sentence OK If there is any error related to ME functionality: +CME ERROR: Inquiry Command Query RMC sentence AT+QGPSGNMEA=“RMC” Response +QGPSGNMEA: RMC sentence OK If there is any error related to ME functionality: +CME ERROR: Inquiry Command Query GSV sentence AT+QGPSGNMEA=“GSV” Response +QGPSGNMEA: GSV sentence OK If there is any error related to ME functionality: +CME ERROR: Inquiry Command Query GSA sentence AT+QGPSGNMEA=“GSA” Response +QGPSGNMEA: GSA sentence OK BG96_GNSS_AT_Commands_Manual 21 / 34 LTE Module Series BG96 GNSS AT Commands Manual If there is any error related to ME functionality: +CME ERROR: Inquiry Command Query VTG sentence AT+QGPSGNMEA=“VTG” Response +QGPSGNMEA: VTG sentence OK If there is any error related to ME functionality: +CME ERROR: Inquiry Command Query GNS sentence AT+QGPSGNMEA=“GNS” Response +QGPSGNMEA: GNS sentence OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.7. AT+QGPSXTRA Enable gpsOneXTRA Assistance Function This command can be used to enable gpsOneXTRA Assistance function, and the function can be activated after restarting the module. AT+QGPSXTRA Enable gpsOneXTRA Assistance Function Test Command AT+QGPSXTRA=? Response +QGPSXTRA: (0,1) OK Read Command AT+QGPSXTRA? Response +QGPSXTRA: OK Write Command AT+QGPSXTRA= BG96_GNSS_AT_Commands_Manual Response OK 22 / 34 LTE Module Series BG96 GNSS AT Commands Manual If there is any error related to ME functionality: +CME ERROR: Reference Parameter Enable gpsOneXTRA Assistance function, and the configuration parameter will be automatically saved to NVRAM. 0 Disable gpsOneXTRA Assistance 1 Enable gpsOneXTRA Assistance Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.8. AT+QGPSXTRATIME Inject gpsOneXTRA Time This command can be used to inject gpsOneXTRA time to GNSS engine. Before using it, customers must enable gpsOneXTRA Assistance function via AT+QGPSXTRA=1 command. After activating the function, the GNSS engine will ask for gpsOneXTRA time and assistance data file. Before injecting gpsOneXTRA data file, gpsOneXTRA time must be injected first via this command. AT+QGPSXTRATIME Inject gpsOneXTRA Time Test Command AT+QGPSXTRATIME=? Response +QGPSXTRATIME: 0, ,(0,1),(0,1), OK Write Command Inject gpsOneXTRA time AT+QGPSXTRATIME= , [, [, , ]] Response OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter Operation type. 0 Inject gpsOneXTRA time Current UTC/GPS time. Format: YYYY/MM/DD,hh:mm:ss. e.g. 2016/01/03,15:34:50. The type of time. 0 GPS time BG96_GNSS_AT_Commands_Manual 23 / 34 LTE Module Series BG96 GNSS AT Commands Manual 1 UTC time Allow or force GPS subsystem to accept the time injected. 0 Allow acceptance 1 Force acceptance Uncertainty of time. Unit: ms. Default value: 3500ms. It indicates the time difference between sending a request to the SNTP server and receiving a response from the SNTP server. If the set time is less than 3.5s, it will be counted as 3.5s. Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.9. AT+QGPSXTRADATA Inject gpsOneXTRA Data File This command can be used to inject gpsOneXTRA assistance data file to GNSS engine. Before operating this command, customers must enable gpsOneXTRA, store the valid gpsOneXTRA data file into UFS of the mudule and inject gpsOneXTRA time to GNSS engine. After operating this command successfully, gpsOneXTRA data file can be deleted from UFS file, and customers can query whether the gpsOneXTRA data is injected successfully via AT+QGPSXTRADATA?. AT+QGPSXTRADATA Inject gpsOneXTRA Data File Test Command AT+QGPSXTRADATA=? Response +QGPSXTRADATA: OK Read Command Query the status of gpsOneXTRA data file AT+QGPSXTRADATA? Response +QGPSXTRADATA: , OK If there is any error related to ME functionality: +CME ERROR: Write Command Inject gpsOneXTRA data file AT+QGPSXTRADATA= Response OK If there is any error related to ME functionality: +CME ERROR: Reference BG96_GNSS_AT_Commands_Manual 24 / 34 LTE Module Series BG96 GNSS AT Commands Manual Parameter Filename of the gpsOneXTRA data file, e.g. xtra2.bin or xtra3grc.bin. Valid time of injected gpsOneXTRA data file. Unit: min. 0 No gpsOneXTRA file or the file is overdue 1-10080 Valid time of gpsOneXTRA file Starting time of the valid time of gpsOneXTRA data file. Format: YYYY/MM/DD,hh:mm:ss, e.g. 2016/01/03,15:34:50. Integer type. The error code of the operation. If it is not 0, it is the type of error. Please refer to Chapter 4 for details. 2.10. AT+QCFGEXT Extended Configuration Settings The command is used to query and configure various extended settings of the module. AT+QCFGEXT Extended Configuration Settings Test Command AT+QCFGEXT=? Response +QCFGEXT: "addgeo", , , , ,< lon1>, ,[ ,[ , [, , ]]] +QCFGEXT: "deletegeo", +QCFGEXT: "querygeo", OK Reference 2.10.1 AT+QCFGEXT=“addgeo” Add a Geo-fence The command is used to add a geo-fence. AT+QCFGEXT=“addgeo” Add a Geo-fence Write Command AT+QCFGEXT=“addgeo”, , , , , , ,[< lon2>,[ , [, , ]]] Response When there are more than six parameters: OK When parameters after the first is omitted, query the current setting of all geo-fences that have been added: +QCFGEXT: “addgeo”, , , , , , ,[ ,[ , [, , ]]] … +QCFGEXT: “addgeo”, , , , , , ,[ ,[ , [, , ]]] BG96_GNSS_AT_Commands_Manual 25 / 34 LTE Module Series BG96 GNSS AT Commands Manual OK When parameters after the second is omitted, query the current setting of the specified geo-fence: +QCFGEXT: “addgeo”, , , , , , ,[ ,[ , [, , ]]] OK If there is any error related to ME functionality: +CME ERROR: Reference Parameter