Quectel BG96 GNSS AT Commands Manual V1.1

Quectel_BG96_GNSS_AT_Commands_Manual_V1.1

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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
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Our aim is to provide customers with timely and comprehensive service. For any
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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
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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
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ANY LIABILITY FOR ANY INJURY, LOSS OR DAMAGE OF ANY KIND INCURRED BY USE OF OR
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COPYRIGHT
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QUECTEL WIRELESS SOLUTIONS CO., LTD. TRANSMITTING, REPRODUCTION, DISSEMINATION
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Copyright © Quectel Wireless Solutions Co., Ltd. 2018. All rights reserved.
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About the Document
History
Revision
Date
Author
Description
1.0
2017-11-23
Matt YE/Vita LV
Initial
1.1
2018-02-12
Matt YE/Vita LV
1. Added geo-fence related AT commands in Chapter
2.10.
2. Modified an error in the example in Chapter 3.3.
3. Added the example for operation of geo-fence
function in Chapter 3.4.
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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 <nmeasrc> .............................................................................................. 29
3.3. Operation Procedures of gpsOneXTRA Assistance Function .................................................. 30
3.4. Application of Geo-fence Function ............................................................................................ 31
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4 Summary of Error Codes .................................................................................................................. 32
5 Appendix A References ..................................................................................................................... 33
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Table Index
TABLE 1: SUMMARY OF ERROR CODES ...................................................................................................... 32
TABLE 2: RELATED DOCUMENT .................................................................................................................... 33
TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 33
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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 <nmeasrc> via AT+QGPSCFG=“nmeasrc”,1, customers can acquire the
specified NMEA sentence via AT+QGPSGNMEA. If <nmeasrc> is disabled, this command
cannot be used.
Step 4: GNSS can be turned off in two ways:
1) If the parameter <fixcount> 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 <fixcount> reaches the specified value, the GNSS will stop automatically.
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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
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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
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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.
2.1.1 AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port
AT+QGPSCFG GNSS Configurations
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
AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port
Write Command
AT+QGPSCFG=“outport”[,<outport>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “outport”,<outport>
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Parameter
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.
Parameter
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<outport> 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
<errcode> 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.
AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via
AT+QGPSGNMEA
Write Command
AT+QGPSCFG=“nmeasrc”[,<nmeasrc
>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “nmeasrc”,<nmeasrc>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<nmeasrc> 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
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2.1.3 AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA
Sentences
Parameter
0 Disable
1 Enable
<errcode> 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.
AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA Sentences
Write Command
AT+QGPSCFG=“gpsnmeatype”[,<gps
nmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gpsnmeatype”,<gpsnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gpsnmeatype> 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
<errcode> 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.
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2.1.4 AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS
NMEA Sentences
Parameter
2.1.5 AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA
Sentences
AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS NMEA
Sentences
Write Command
AT+QGPSCFG=“glonassnmeatype”[,
<glonassnmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “glonassnmeatype”,<glonassnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<glonassnmeatype> 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
<errcode> 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.
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”,<galileonmeatype>
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Parameter
2.1.6 AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA
Sentences
Parameter
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<galileonmeatype> 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
<errcode> 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.
AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA
Sentences
Write Command
AT+QGPSCFG=“beidounmeatype”[,<
beidounmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “beidounmeatype”,<beidounmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<beidounmeatype> 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
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2.1.7 AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA
Sentences
Parameter
2.1.8 AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation
1 GSA
2 GSV
<errcode> 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.
AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA
Sentences
Write Command
AT+QGPSCFG=“gsvextnmeatype”[,<
gsvextnmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gsvextnmeatype”,<gsvextnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gsvextnmeatype> 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
<errcode> 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.
AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation
Write Command
AT+QGPSCFG=“gnssconfig”[,<gnssc
onfig>]
Response
When there are two parameters:
OK
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Parameter
The command will be effective after reboot.
2.1.9 AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gnssconfig”,<gnssconfig>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gnssconfig> 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
<errcode> 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.
AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically
Write Command
AT+QGPSCFG=”autogps”[,<autogps
>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “autogps”,<autogps>
OK
NOTE
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Parameter
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.
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<autogps> 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
<errcode> 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.
AT+QGPSDEL Delete Assistance Data
Test Command
AT+QGPSDEL=?
Response
+QGPSDEL: (0-3)
OK
Write Command
AT+QGPSDEL=<deletetype>
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
NOTE
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Parameter
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, <gnssmode>=1). When <fixcount> is 0, GNSS will fix position continuously,
and it can be turned off via AT+QGPSEND. When <fixcount> is non-zero and reaches the specified
value, GNSS will be turned off automatically.
Parameter
<deletetype> 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.
<errcode> 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.
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: <gnssstate>
OK
Write Command
AT+QGPS=<gnssmode>[,<fixmaxtim
e>[,<fixmaxdist>[,<fixcount>[,<fixrate
>]]]]
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gnssstate> GNSS state
0 GNSS OFF
1 GNSS ON
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2.4. AT+QGPSEND Turn off GNSS
When GNSS is turned on and <fixcount> is 0, GNSS fixes position continuously. In this case, GNSS can
be turned off compulsorily via AT+QGPSEND. When <fixcount> is non-zero, GNSS will be turned off
automatically when the parameter reaches the specified value, and thus the command can be ignored.
Parameter
<gnssmode> GNSS working mode
1 Stand-alone
2 MS-based
3 MS-assisted
4 Speed-optimal
<fixmaxtime> 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
<fixmaxdist> Accuracy threshold of positioning. Unit: m.
1-50-1000
<fixcount> Number of attempts for positioning.
0–1000 0 indicates continuous positioning. Non-zero values indicate the
actual number of attempts for positioning.
<fixrate> The interval time between the first and second time positioning. Unit: s.
1–65535
<errcode> 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.
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: <errcode>
Reference
<errcode> 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.
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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: <errcode> will be returned to indicate the corresponding situation.
Parameter
AT+QGPSLOC Acquire Positioning Information
Test Command
AT+QGPSLOC=?
Response
+QGPSLOC: <UTC>,<latitude>,<longitude>,<hdop>,<altit
ude>,<fix>,<cog>,<spkm>,<spkn>,<date>,<nsat>
OK
Write Command
AT+QGPSLOC=<mode>
Response
+QGPSLOC: <UTC>,<latitude>,<longitude>,<hdop>,<altit
ude>,<fix>,<cog>,<spkm>,<spkn>,<date>,<nsat>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<mode> Latitude and longitude display format.
0 <latitude>,<longitude> format: ddmm.mmmm N/S,dddmm.mmmm E/W
1 <latitude>,<longitude> format: ddmm.mmmmmm N/S,dddmm.mmmmmm E/W
2 <latitude>,<longitude> format: (-)dd.ddddd,(-)ddd.ddddd
<UTC> UTC time.
Format: hhmmss.sss (Quoted from GPGGA sentence).
<latitude> Latitude.
If <mode> 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 <mode> 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 <mode> is 2:
Format: (-)dd.ddddd (Quoted from GPGGA sentence)
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dd.ddddd -89.99999-89.99999 (degree)
- South latitude
<longitude> Longitude.
If <mode> 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 <mode> 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 <mode> is 2:
Format: (-)dd.ddddd Quoted from GPGGA sentence)
dd.ddddd -179.99999-179.99999 (degree)
- West longitude
<hdop> Horizontal precision: 0.5-99.9 (Quoted from GPGGA sentence).
<altitude> The altitude of the antenna away from the sea level (unit: m), accurate to one decimal
place (Quoted from GPGGA sentence)
<fix> GNSS positioning mode (Quoted from GNGSA/GPGSA sentence).
2 2D positioning
3 3D positioning
<cog> Course Over Ground based on true north.
Format: ddd.mm (Quoted from GPVTG sentence).
ddd 000-359 (degree)
mm 00-59 (minute)
<spkm> Speed over ground.
Format: xxxx.x; unit: Km/h; accurate to one decimal place (Quoted from GPVTG
sentence).
<spkn> Speed over ground.
Format: xxxx.x; unit: knots; accurate to one decimal place (Quoted from GPVTG
sentence).
<date> UTC time when fixing position.
Format: ddmmyy (Quoted from GPRMC sentence).
<nsat> Number of satellites, from 00 (The first 0 should be retained) to 12 (Quoted from
GPGGA sentence).
<errcode> 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.
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2.6. AT+QGPSGNMEA Acquire NMEA Sentences
Before using this command, GNSS must be turned on via AT+QGPS, and set <nmeasrc> 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: <errcode>
Inquiry Command
Query RMC sentence
AT+QGPSGNMEA=“RMC”
Response
+QGPSGNMEA: RMC sentence
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Inquiry Command
Query GSV sentence
AT+QGPSGNMEA=“GSV”
Response
+QGPSGNMEA: GSV sentence
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Inquiry Command
Query GSA sentence
AT+QGPSGNMEA=“GSA”
Response
+QGPSGNMEA: GSA sentence
OK
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Parameter
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.
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Inquiry Command
Query VTG sentence
AT+QGPSGNMEA=“VTG”
Response
+QGPSGNMEA: VTG sentence
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Inquiry Command
Query GNS sentence
AT+QGPSGNMEA=“GNS”
Response
+QGPSGNMEA: GNS sentence
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<errcode> 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.
AT+QGPSXTRA Enable gpsOneXTRA Assistance Function
Test Command
AT+QGPSXTRA=?
Response
+QGPSXTRA: (0,1)
OK
Read Command
AT+QGPSXTRA?
Response
+QGPSXTRA: <xtraenable>
OK
Write Command
AT+QGPSXTRA=<xtraenable>
Response
OK
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Parameter
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.
Parameter
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<xtraenable> Enable gpsOneXTRA Assistance function, and the configuration parameter will be
automatically saved to NVRAM.
0 Disable gpsOneXTRA Assistance
1 Enable gpsOneXTRA Assistance
<errcode> 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.
AT+QGPSXTRATIME Inject gpsOneXTRA Time
Test Command
AT+QGPSXTRATIME=?
Response
+QGPSXTRATIME: 0,<xtratime>,(0,1),(0,1),<uncrtn>
OK
Write Command
Inject gpsOneXTRA time
AT+QGPSXTRATIME=<op>,<xtratime
>[,<utc>[,<force>,<uncrtn>]]
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<op> Operation type.
0 Inject gpsOneXTRA time
<xtratime> Current UTC/GPS time.
Format: YYYY/MM/DD,hh:mm:ss. e.g. 2016/01/03,15:34:50.
<utc> The type of time.
0 GPS time
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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?.
1 UTC time
<force> Allow or force GPS subsystem to accept the time injected.
0 Allow acceptance
1 Force acceptance
<uncrtn> 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.
<errcode> 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.
AT+QGPSXTRADATA Inject gpsOneXTRA Data File
Test Command
AT+QGPSXTRADATA=?
Response
+QGPSXTRADATA: <xtradatafilename>
OK
Read Command
Query the status of gpsOneXTRA data
file
AT+QGPSXTRADATA?
Response
+QGPSXTRADATA:
<xtradatadurtime>,<injecteddatatime>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Write Command
Inject gpsOneXTRA data file
AT+QGPSXTRADATA=<xtradatafilena
me>
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
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Parameter
2.10. AT+QCFGEXT Extended Configuration Settings
The command is used to query and configure various extended settings of the module.
2.10.1 AT+QCFGEXT=“addgeo” Add a Geo-fence
The command is used to add a geo-fence.
<xtradatafilename> Filename of the gpsOneXTRA data file, e.g. xtra2.bin or xtra3grc.bin.
<xtradatadurtime> 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
<injecteddatatime> 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.
<errcode> 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.
AT+QCFGEXT Extended Configuration Settings
Response
+QCFGEXT: "addgeo",<geoid>,<mode>,<shape>,<lat1>,<
lon1>,<lat2>,[<lon2>,[<lat3>,<lon3>[,<lat4>,<lon4>]]]
+QCFGEXT: "deletegeo",<geoid>
+QCFGEXT: "querygeo",<geoid>
OK
AT+QCFGEXT=“addgeo” Add a Geo-fence
Write Command
AT+QCFGEXT=“addgeo”,<geoid>,<m
ode>,<shape>,<lat1>,<lon1>,<lat2>,[<
lon2>,[<lat3>,<lon3>[,<lat4>,<lon4>]]]
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”,<geoid>,<mode>,<shape>,<lat1>,
<lon1>,<lat2>,[<lon2>,[<lat3>,<lon3>[,<lat4>,<lon4>]]]
…
+QCFGEXT: “addgeo”,<geoid>,<mode>,<shape>,<lat1>,
<lon1>,<lat2>,[<lon2>,[<lat3>,<lon3>[,<lat4>,<lon4>]]]
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Parameter
OK
When parameters after the second is omitted, query the
current setting of the specified geo-fence:
+QCFGEXT: “addgeo”,<geoid>,<mode>,<shape>,<lat1>,
<lon1>,<lat2>,[<lon2>,[<lat3>,<lon3>[,<lat4>,<lon4>]]]
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<geoid> Geo-fence ID. Range: [0,9]
<mode> URC report mode
0 Disable URC to be reported when entering or leaving the geo-fence
1 Enable URC to be reported when entering the geo-fence
2 Enable URC to be reported when leaving the geo-fence
3 Enable URC to be reported when entering or leaving the geo-fence
The URC is shown as below:
+QIND: "GEOFENCE",<id>,<action>,<time>,<latitude>,<longitude>,<altitu
de>,<course>,<speed>,<PDOP>,<HDOP>,<VDOP>
<id> The ID of geo-fence which is to be entered or left
<action> The current action of the module.
1 Entering the geo-fence
2 Leaving the geo-fence
<time> The UTC time when entering or leaving the geo-fence.
Format: yyyy-MM-dd hh:mm:ss
<latitude> The latitude of module when entering or leaving the geo-fence. Unit: degree
Format: ±dd.dddddd. Range: [-90.000000,90.000000]
<longitude> The longitude of module when entering or leaving the geo-fence. Unit: degree
Format: ±ddd.dddddd. Range: [-180.000000,180.000000]
<altitude> Mean sea level altitude. Unit: meter
<course> Course over ground, relative to true north. Unit: degree
<speed> Speed over ground. Unit: m/s
<PDOP> Position dilution of precision.
<HDOP> Horizontal dilution of precision.
<VDOP> Vertical dilution of precision.
<shape> Geo-fence shape
0 Circularity with center and radius
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2.10.2 AT+QCFGEXT=“deletegeo” Delete a Geo-fence
The command is used to delete a geo-fence.
1 Circularity with center and one point on the circle
2 Triangle
3 Quadrangle
<lat1> The latitude of a point which is defined as the center of the geo-fence circular
region or the first point, Unit: degree
Format: ±dd.dddddd. Range: [-90.000000,90.000000]
<lon1> The longitude of a point which is defined as the center of the geo-fence circular
region or the first point. Unit: degree
Format: ±ddd.dddddd. Range: [-180.000000,180.000000]
<lat2> When <shape> is 0, this parameter is radius. Unit: meter. Range:
[0,6000000.0]
When <shape> is other value, this parameter is a latitude. Unit: degree
Format: ±dd.dddddd. Range: [-90.000000~90.000000]
If <shape> is 0, the parameters after <lat2> must be omitted.
<lon2> The longitude of the second point. Unit: degree
Format: ±ddd.dddddd. Range: [-180.000000,180.000000]
If <shape> is 1, the parameters after <lon2> must be omitted.
<lat3> The latitude of the third point. Unit: degree
Format: ±dd.dddddd. Range: [-90.000000,90.000000]
<lon3> The longitude of the third point. Unit: degree
Format: ±ddd.dddddd. Range: [-180.000000,180.000000]
If <shape> is 2, the parameters after <lon3> must be omitted.
<lat4> The latitude of the fourth point. Unit: degree
Format: ±dd.dddddd. Range: [-90.000000,90.000000]
<lon4> The longitude of the fourth point. Unit: degree
Format: ±ddd.dddddd. Range: [-180.000000,180.000000]
<errcode> 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.
AT+QCFGEXT=“deletegeo” Delete a Geo-fence
Write Command
AT+QCFGEXT=“deletegeo”,<geoid>
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
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Parameter
2.10.3 AT+QCFGEXT=“querygeo” Query the Position with Respect to Geo-fence
This command is used to query the position with respect to the geo-fence.
Parameter
<geoid> Geo-fence ID. Range: [0,10]. 10 means deleting all geo-fences that you have
added.
<errcode> 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.
AT+QCFGEXT=“querygeo” Query the Position with Respect to Geo-fence
Write Command
AT+QCFGEXT=“querygeo”,<geoid>
Response
+QCFGEXT: “querygeo”,<posWrtGeofence>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<geoid> Geo-fence ID. Range: [0,9]
<posWrtGeofence> Position with respect to the geo-fence.
0 Position unknown
1 Position is inside the geo-fence
2 Position is outside the geo-fence
<errcode> 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.
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3 Examples
3.1. Turn on and off the GNSS
Default arguments are used in this example to turn on GNSS. After turning on GNSS, NMEA sentences
will be outputted from “usbnmea” port by default; and GNSS can be turned off via AT+QGPSEND.
AT+QGPS=1 //Turn on GNSS.
OK
//After turning on GNSS, NMEA sentences will be outputted from “usbnmea” port by default.
AT+QGPSLOC? //Obtain positioning information.
+QGPSLOC: 061951.0,3150.7223N,11711.9293E,0.7,62.2,2,0.0,0.0,0.0,110513,09
OK
AT+QGPSEND //Turn off GNSS.
OK
3.2. Application of GNSS <nmeasrc>
When GNSS is turned on and <nmeasrc> is set to 1, NMEA sentences can be acquired directly via
AT+QGPSGNMEA
AT+QGPSCFG=“nmeasrc”,1 //Set <nmeasrc> to 1 to enable acquisition of NMEA
sentences via AT+QGPSGNMEA.
OK
AT+QGPSGNMEA=“GGA” //Obtain GGA sentence.
+QGPSGNMEA: $GPGGA,103647.0,3150.721154,N,11711.925873,E,1,02,4.7,59.8,M,-2.0,M,,*77
OK
AT+QGPSCFG=“nmeasrc”,0 //Set <nmeasrc> to 0 to disable acquisition of NMEA
sentences via AT+QGPSGNMEA.
OK
AT+QGPSGNMEA=“GGA” //Acquisition of NMEA sentences via AT+QGPSGNMEA was
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disabled, and thus GGA sentence cannot be obtained.
+CME ERROR: 507
3.3. Operation Procedures of gpsOneXTRA Assistance Function
This example shows the operation procedures of gpsOneXTRA Assistance function.
//If gpsOneXTRA Assistance is disabled, enable it via AT+QGPSXTRA=1 and restart the mdoule, then
perform the following procedures.
AT+QGPSXTRA=1 //Enable gpsOneXTRA Assistance.
OK
//The gpsOneXTRA Assistance function is activated after restarting the module.
//If gpsOneXTRA data file is valid (query via AT+QGPSXTRADATA?), turn on GNSS engine directly.
//If gpsOneXTRA data file is invalid (query via AT+QGPSXTRADATA?), then perform the following
procedures.
//Customers can download the gpsOneXTRA data file to PC (or MCU) from URL
http://xtrapath1.izatcloud.net/xtra2.bin or other URLs listed in Chapter 1.3.
AT+QFUPL="UFS:xtra2.bin",60831,60 //Select the gpsOneXTRA file and upload it to
module via QCOM. For more details about
this command, please refer to document
[2]. And for more details about QCOM tool
usage and configuration, please refer to
document [3].
OK
AT+QGPSXTRATIME=0,“2017/11/08,15:30:30”,1,1,5 //Inject gpsOneXTRA time to GNSS engine.
OK
AT+QGPSXTRADATA=“UFS:xtra2.bin” //Injected gpsOneXTRA data file to GNSS
engine successfully.
OK
AT+QFDEL=“UFS:xtra2.bin” //Delete gpsOneXTRA data file from UFS file.
OK
AT+QGPS=1 //Turn on GNSS engine.
OK
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3.4. Application of Geo-fence Function
This example shows the operation procedures of geo-fence function.
AT+QCFGEXT="addgeo",0,3,0,31.826,117.2168,100 //Add a circular geo-fence 0.
OK
AT+QCFGEXT="addgeo",0 //Query the setting of geo-fence 0.
+QCFGEXT: "addgeo",0,3,0,31.826000,117.216800,100.0
OK
AT+QCFGEXT="addgeo",7,1,3,31.833348,117.212909,31.826453,117.213248,31.82873,117.222093,
31.833502,117.2208623 //Add a quadrangle geo-fence 7.
OK
AT+QCFGEXT="addgeo",7 //Query the setting of geo-fence 7.
+QCFGEXT: "addgeo",7,1,3,31.833348,117.212909,31.826453,117.213248,31.828730,117.222093,
31.833502,117.220862
OK
AT+QCFGEXT="deleltegeo",7 //Delete geo-fence 7.
OK
AT+QGPS=1 //Turn on GNSS engine.
OK
AT+QCFGEXT="querygeo",0 //Query the position with respect to geo-fence 0.
+QCFGEXT: "querygeo",0,1 //The current position is inside the geo-fence 0.
OK
+QIND: "GEOFENCE",0,1,2017/08/25 08:35:53,31.825179,117.217127,34.0,0.2,13.8,1.1,0.7,0.8
//When entering the geo-fence 0, this URC will be reported.
+QIND: "GEOFENCE",0,2,2017/08/25 08:36:07,31.826951,117.217071,38.0,359.0,13.4,0.9,0.6,0.6
//When leaving the geo-fence 0, this URC will be reported.
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4 Summary of Error Codes
The <errcode> indicates an error related to GNSS operation. The details about <errcode> are described
in the following table.
Table 1: Summary of Error Codes
<errcode>
Meaning
501
Invalid parameter
502
Operation not supported
503
GNSS subsystem busy
504
Session is ongoing
505
Session not active
506
Operation timeout
507
Function not enabled
508
Time information error
509
XTRA not enabled
512
Validity time is out of range
513
Internal resource error
514
GNSS locked
515
End by E911
516
Not fixed now
517
Geo-fence ID is not existed
549
Unknown error
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5 Appendix A References
Table 2: Related Document
SN
Document Name
Remark
[1]
Quectel_BG96_AT_Commands_Manual
BG96 AT Commands Manual
[2]
Quectel_BG96_FILE_AT_Commands_Manual
BG96 FILE AT Commands Manual
[3]
Quectel_QCOM_User_Guide
QCOM User Guide
Table 3: Terms and Abbreviations
Abbreviation
Description
BeiDou
BeiDou Navigation Satellite System
Galileo
Galileo Satellite Navigation System
GGA
Global Positioning System Fix Data
GLONASS
Global Navigation Satellite System
GNS
Global Network Service
GNSS
Global Navigation Satellite System
GPS
Global Positioning System
gpsOneXTRA
An Auxiliary Positioning Technology Provided by Qualcomm
GSA
GPS DOP and Active Satellites
GSV
Satellites in View
HDOP
Horizontal Dilution of Precision
MCU
Micro Control Unit
ME
Mobile Equipment
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MS
Mobile Station
NMEA
National Marine Electronics Association
NVRAM
Non-Volatile Random Access Memory
PC
Private Computer
PDOP
Position Dilution of Precision
RMC
Recommended Minimum Navigation Information
SNR
Signal Noise Ratio
SNTP
Simple Network Time Protocol
TTFF
Time to First Fix
UART
Universal Asynchronous Receiver & Transmitter
UFS
User File Storage
URC
Unsolicited Result Code
URL
Uniform Resource Locator
USB
Universal Serial Bus
UTC
Universal Time Code
VDOP
Vertical Dilution of Precision
VTG
Track Made Good and Ground Speed

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