Tri-M Systems FV-25 User Manual

1Tri-M Systems, Inc. Unit 100, 1407 Kebet wayPort Coquitlam, BC V3C 6L3 Canadawww.tri-m.com Phone: 604.945.9565 Fax: 604.945.9566 [email protected] FV

10Specification Performance Characteristics Receiver Type L1 frequency, C/A code, 16 Channels Position Accuracy w

1002 U1 Reserved 3 U1 Inverse_flags Bit 0 – invert meaning of direction pin; 0: High=Forwards; 1: High=Backwards Bit 1 – invert meaning of gyr

101UBX Class INF Basically, the INF class is an output class. It outputs strings with a printf-style call. INF – ERROR (0x04 0x00) It outputs an ASC

102INF – WARNING (0x04 0x01) It outputs an ASCII string to indicate warning message. Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x01 N*1

103INF – NOTICE (0x04 0x02) It outputs an ASCII string to transmit informational contents. Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x02

104INF – TEST (0x04 0x03) It outputs an ASCII string to indicate test message. Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x03 N*1 See be

105INF – DEBUG (0x04 0x04) It outputs an ASCII string to indicate debug message. Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x04 N*1 See

106INF – USER (0x04 0x07) It outputs an ASCII string to indicate user output message. Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x07 N*1

107UBX Class MON This message is used to transmit GPS receiver status, such as CPU status, I/O status, etc.. MON – SCHD (0x0A 0x01) It periodically

108MON – IO (0x0A 0x02) It periodically polls the I/O status. Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x02 80 See below CK_A CK_B Da

109MON – MAGPP (0x0A 0x06) It periodically polls message parse and process status. Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x06 144 Se

11Dimension 37.1mm x 25.6 mm Thickness 3.9 mm Weight 9.5 g (include an S

110MON – RXBUF (0x0A 0x07) It periodically polls the status of receiver buffer. Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x07 16 See be

111MON – TXBUF (0x0A 0x08) It periodically polls the status of transmitter buffer. Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x08 20 See

112MON – VER (0x0A 0x04) It is used to poll the hardware/software version. Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x04 40+N*30 See be

113UBX Class NAV The messages in this class transmit navigation data, status flags, and accuracy information. NAV – POSECEF (0x01 0x01) It periodica

114NAV – POSLLH (0x01 0x02) It periodically polls the receiver’s position in the local geodetic frame. Header ID Data Length Data Checksum 0xB5 0x62

115NAV – POSUTM (0x01 0x08) It periodically polls the receiver’s position in the UTM frame. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x08

116NAV – DOP (0x01 0x04) It periodically polls the values of DOPs. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x04 18 See below CK_A CK_

117NAV – STATUS (0x01 0x03) It periodically polls navigation status. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x03 16 See below CK_A C

118NAV – SOL (0x01 0x06) It periodically polls the information about navigation solution. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x06

119NAV – VELECEF (0x01 0x11) It periodically polls velocity solution in the ECEF frame. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x11 20

12 Chapter 2 Start 2.1 Pin Definitions and Reference Layout Figure 2.1 shows the pin definitions of FV-25. Table 2.1 describes the corresponding def

120NAV – VELNED (0x01 0x12) It periodically polls velocity solution in the NED frame. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x12 36

121NAV – TIMEGPS (0x01 0x20) It periodically polls the information about GPS time. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x20 16 See

122NAV – TIMEUTC (0x01 0x21) It periodically polls the information about UTC time. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x21 20 See

123NAV – CLOCK (0x01 0x22) It periodically polls receiver clock information. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x22 20 See below

124NAV – SVINFO (0x01 0x30) It periodically polls the information about UTC time. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x30 8+N*12

125NAV – DGPS (0x01 0x31) It periodically polls DGPS correction data that are used in the navigation solution. Header ID Data Length Data Checksum 0

126NAV – SBAS (0x01 0x32) It periodically polls the status of SBAS. Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x32 12+N*12 See below CK

12717+N*12 U1 Reserved 18+N*12 I2 Pseudo range correction (cm) 20+N*12 I2 Reserved 22+N*12 I2 Ionosphere correction (cm)

128UBX Class RXM This class transmits the status of receiver manager and received raw data, e.g. pseudorange and carrier phase measurements, ephemeri

129RXM – SFRB (0x02 0x11) It periodically outputs the data in the subframe of navigation message. Header ID Data Length Data Checksum 0xB5 0x62 0x0

13Pin Definitions Pin No. Title I/O Note a VIN-1 I Voltage input 5~12V DC (MUST leave open if VIN-2 is used)b VANT I Antenna bias voltage input DC

130RXM – SVSI (0x02 0x20) It periodically polls the information of SV status. Header ID Data Length Data Checksum 0xB5 0x62 0x02 0x20 8+N*6 See b

131RXM – ALM (0x02 0x30) It’s an input request for polling almanac data. The receiver responds with all available (32) RXM-ALM messages defined below

132not valid. 2. WORD0 ~ WORD7 contain the data following the Hand-Over Word (HOW) in the navigation message. The data are from the sub-frame 4 of Pa

133RXM – EPH (0x02 0x31) It’s an input request for polling ephemeris data. The receiver responds with all available RXM-EPH messages defined below.

13436+n*96 U4 Sub-frame 1 – WORD7 40+n*96 U4 Sub-frame 2 – WORD0 44+n*96 U4 Sub-frame 2 – WORD1 48+n*96 U4 Sub-frame 2 – WORD2 52+n*9

135RXM – POSREQ (0x02 0x40) It’s an input message for requesting a position fix in the FixNow mode (power saving mode). Header ID Data Length Data C

136UBX Class TIM This class transmits the information of time pulse and time mark. TIM – TM (0x0D 0x02) It periodically polls the time mark data. H

137TIM – TP (0x0D 0x01) It periodically polls the time pulse data. Header ID Data Length Data Checksum 0xB5 0x62 0x0D 0x01 16 See below CK_A CK_

138UBX Class UPD This class is used to update the firmware. UPD – DOWNL (0x09 0x01) It is an I/O message. It is used to download data to memory. He

139UPD – UPLOAD (0x09 0x02) It is an I/O message. It is used to upload data from memory. Header ID Data Length Data Checksum 0xB5 0x62 0x09 0x02 1

14 2.2 Sanav_Demo Sanav_Demo is required to run on a PC with at least 4 MB RAM and Windows 98 that has at least one available serial comm. port (fr

140 Chapter 8 Troubleshooting The following table lists questions/problems that you might encounter for operating the module and possible suggested

1416. The estimated positions have steadily expressed about a few meters or up to a few hundred meters off the reference position. Make sure the esti

142 Appendix A Geodetic ID: Coordinate Datum Index Name Acronym DX (m) DY(m) DZ (m) Ellipsoid Index (See below) Rotation and Scale (See bel

14318 ARC 1950 - Zambia ARF-F -147.0 -74.0 -283.0 7 0 19 ARC 1950 - Zimbabwe ARF-G -142.0 -96.0 -293.0 7 0 20 ARC 1960 - Mean (Kenya, T

14441 Djakarta (Batavia)- Sumatra (Indonesia) BAT -377.0 681.0 -50.0 5 0 42 Hong Kong 1963 - Hong Kong HKD -156.0 -271.0 -189.0 20 0 43

14562 Tokyo - Okinawa TOY-C -158.0 507.0 676.0 5 0 63 Tokyo - South Korea TOY-B -146.0 507.0 687.0 5 0 64 Australian Geodetic 1966 - Au

14680 European 1979 - Mean Solution (AU, FN, NL, N, E, S, CH) EUS -86.0 -98.0 -119.0 20 0 81 Hjorsey 1955 - Iceland HJO -73.0 46.0 -86.0

147Alaska (excluding Aleutian Islands) 96 N. American 1927 - Aleutian Islands, East of 180W NAS-V -2.0 152.0 149.0 6 0 97 N. American 1927

148Caribbean 108 N. American 1927 - Central America NAS-N 0.0 125.0 194.0 6 0 109 N. American 1927 - Cuba NAS-T -9.0 152.0 178.0 6 0 110

149Bolivia 124 Prov S. American 1956 - Northern Chile (near 19S) PRP-B -270.0 183.0 -390.0 20 0 125 Prov S. American 1956 - Southern Chile

15Figure 2.4 Setting of comm. port number. For setting the value of baud rate, pull the scroll-down window for the “Baud rate” item and the desired

150Galapagos Islands) 139 South American 1969 - Baltra, Galapagos Islands SAN-J -47.0 26.0 -42.0 22 0 140 South American 1969 - Guyana SAN-

151154 L.C. 5 Astro 1961 - Cayman Brac Island LCF 42.0 124.0 147.0 6 0 155 Montserrat Island Astro 1958 - Montserrat Leeward Islands ASM

152Diego Garcia 169 Kerguelen Island 1949 - Kerguelen Island KEG 145.0 -187.0 103.0 20 0 170 Mahe 1971 - Mahe Island MIK 41.0 -220.0 -13

153185 Johnston Island 1961 - Johnston Island JOH 189.0 -79.0 -202.0 20 0 186 Kusaie Astro 1951 - Caroline Islands, Fed. States of Micronesia

154Antarctica 202 European 1950 - Iraq, Israel, Jordan, Kuwait, Lebanon, Saudi Arabia & Syria EUR-S -103.0 -106.0 -141.0 20 0 203 Gunung

155Ellipsoids Index Name Semi Major Axis (m) 1/Flattening 0 WGS 84 6378137.000 298.257223563 1 Airy 1830 6377563.396 299.3249646 2 Modified Air

156Rotation and Scale Table Index Name Rot. X (seconds) Rot. Y (seconds) Rot. Z (seconds) Scale (-) 0 +0.0000 +0.0000 +0.0000 0.0001 0.0000 0.

157 Appendix B Acronyms BBR Battery Backed-up RAM CLT Carrier Lock Time CN0 Carrier to Noise Ratio COG Course Over Ground CTM Conti

158 References 1. ANTARISR Chipset – System Integration- Manual for San Jose Navigation, Doc. No. GPS.G3-DK-03014. 2. ANTARISR Protocol Specificatio

16subsequent window will be the one shown in Figure 2.6, i.e., the navigation data from the module are displayed in the corresponding sub-windows. If

17 Figure 2.7 Constellation Map of GPS satellites. 2.2.4 Message View for NMEA Messages Figure 2.8 is the window for showing the desired (user-selec

18accumulatively within the sub-window until the sub-window is filled up, i.e., the “Message View” window contains NMEA messages from several epochs,

19Figure 2.10 Available NMEA messages. NOTE: The output NMEA messages will be discarded or not transmitted if the values of the baud rate is not su

2Contents Preface………………………………………………………… Chapter 1 Introduction……………………………………….. 1.1 Supports……………………………………………………….. Chapter 2 Start…………………………………

20Figure 2.11 GPS satellite information. 2.2.7 Receiver Information Figure 2.12 describes the receiver information. They are: UTC Date: day/month/y

21Figure 2.12 Receiver Information. NOTE: Data displayed in the sub-windows (Figures 2.7, 2.9, 2.11, and 2.12) depend on the user-selected output NM

22Figure 2.13 Tracking View. 2.2.9 User Setting Clicking “Windows/User Setting” or the shortcut button ?, the “User Setting” window is activated, as

23 The output position will be updated as the position is fixed. 2.2.9.2 Time and day This function sets the initial UTC date and time, as shown in

24Figure 2.16 Local time zone. 2.2.9.4 Restart This function sets the initial start-up mode, such as cold-start, warm-start, and hot-start, for the

252.2.9.5 DGPS This function activates the differential GPS functions of the module, such as RTCM and WAAS/EGNOS, or only GPS function without aids,

26 Chapter 3 Alternative Start This chapter introduces an alternative utility, HyperTerminal (from Windows), to display the NMEA information. And, U

27the mode of connection. Figure 3.2 Connection settings. After setting all the necessary data, click the connection button, which is the fifth sho

28will ask users to input the file name and folder. 3.3 Setting Configuration or Polling Information from Module For setting or polling the desired

29 Chapter 4 Navigation 4.1 Operating Modes 4.1.1 Continuous Tracking Mode (CTM) CTM is the default setting of the module. While the CTM is on, the

3 4.5 Navigation Data……………………………………………………. 4.5.1 Position Format……………………………………………… 4.5.2 Datums………………………………………………………. 4.5.3 Update Rate…………………

30 Conditions Modes Time Position Almanac Ephemeris Cold Start None None None None Warm Start Yes Yes Yes None Hot Start Yes Yes Yes Yes Tab

31will improve on TTFF depends on the accuracy of position and time from a near base station (service center) as well as hardware synchronization. T

32dB is used, the “High Sensitivity” mode is not recommended. 4.5 Navigation Data 4.5.1 Position Format The navigation data can be output in the for

33initial/assumed value of the altitude is 500 m. If the 2D position fix occurs after the 3D position fix (number of observable satellites drops from

34RTCM protocol, please refer to the web site http://www.rtcm.org/. The DGPS parameters can be changed in the UBX-CFG-NAV message, like DGPS Timeta

35 Chapter 5 Evaluation Kit The evaluation kit is an optional accessory while purchasing the module. It will provide an easy way to estimate the per

36re-start up the GPS module in the either Continuous Tracking Mode or FixNow mode. Figure 5.2 Front panel of the evaluation kit. Figure 5.3 s

37Both Comm. ports are the bi-directional ports, i.e., the ports also accepts user software commands. For receiving RTCM message, either port can be

38 Chapter 6 Antennas To get the maximum performance from the module, in addition to the own properties of the module, one of the important factors

39For using passive antennas, the pin VANT (DC bias voltage) on the module is connected to ground, and the antenna is directly connected to the GPS s

4List of Figures Figure 2.1 FV-25 Pin definitions (Top View)………………………………….. Figure 2.2 A reference layout for FV-25……………………………………….. Figure 2.3 Setti

406.3 Active Antenna Supervisor - Short Circuit Protection This is a built-in function that is monitored by the BaseBand processor. If an abnormal cu

41 Chapter 7 Available NMEA and UBX Messages 7.1 NMEA Protocol The NMEA protocol expresses the data in the format of ASCII. This is a standard forma

42the “PDOP Accuracy Mask”.

43GGA – GPS Fix Data Position fix related data, such as position, time, number of satellites in use, etc.. $GPGGA,gga1,gga2,gga3,gga4,gga5,gga6,gga7

44GLL – Geographic Position – Latitude/Longitude Navigation data and status. $GPGLL,gll1,gll2,gll3,gll4,gll5,gll6,gll7*hh<CR><LF> Param

45GRS – GNSS Range Residual This message is used to monitor and support RAIM. $GPGRS,grs1,grs2,(grs3*12)*hh<CR><LF> Parameters Descript

46GSA – GNSS DOP and Active Satellites Receiver operating mode, the values of DOPs, and PRN numbers for satellites used in the GGA position solution.

47GST – GNSS Pseudorange Error Statistics This message is used to monitor and support RAIM. $GPGST,gst1,gst2,gst3,gst4,gst5,gst6,gst7,gst8*hh<CR&

48GSV – GNSS Satellites in View This message indicates the observable satellites’ information, such as PRN numbers, elevation, azimuth, SNR, and numb

49RMC – Recommended Minimum Specific GNSS Data This message transmits the necessary navigation data, such as time, position, speed, course, and so on

5List of Tables Table 1.1 Specification of FV-25…………………………………………….. Table 2.1 Description of pin definition for FV-25…………………………… Table 4.1 Conditions

50TXT – Text Transmission The message is used to transmit short text messages. Transmitting a longer message needs multi-TXT messages. $GPTXT,txt1,t

51VTG – Course Over Ground and Ground Speed This message transmits the speed and course relative to ground. $GPVTG,vtg1,vtg2,vtg3,vtg4,vtg5,vtg6,vtg

52ZDA – Time & Date This message transmits UTC time and date, and local time zone. $GPZDA,zda1,zda2,zda3,zda4,zda5,zda6*hh<CR><LF>

53 7.1.2 Proprietary NMEA Messages The non-standard NMEA messages is proposed by u-blox. The proprietary (non-standard) NMEA messages are grouped int

54PUBX, 00 – Latitude/Longitude Position Data Output message. This message transmits navigation data defined in the local geodetic frame. $PUBX,00,p

55the position calculation p00x18 Number of GLONASS satellites used in the position calculation Always 0 p00x19 Dead reckoning used 0 – No; 1 – Ye

56PUBX, 01 – UTM Position Data Output message. This message transmits navigation data defined in the Universal Transverse Mercator (UTM) frame. $PUB

57used in the position calculation p01x19 Dead reckoning used 0 – No; 1 – Yes hh Checksum hex number (2 – character) <CR><LF> End

58PUBX,03 – Satellite Status Output message. $PUBX,03,p03x1,((p03x2,p03x3,p03x4,p03x5,p03x6,p03x7)*n)*hh<CR><LF> Parameters Description

59PUBX,04 – Time of Day and Clock Information Output message. This message transmits UTC time, week number, and clock offset. $PUBX,04,p04x1,p04x2,p

6 Preface The objective of The FV-25 User’s Guide is to help users to understand the properties of FV-25 thoroughly and, therefore, obtain the maxi

60GPQ – Poll Message Input message. Poll a standard NMEA message. $xxGPQ,gpq1*hh<CR><LF> Parameters Descriptions Notes $xxGPQ NMEA me

61PUBX – Poll a PUBX Message Input message. Poll the proprietary PUBX messages. $PUBX,p1*hh<CR><LF> Parameters Descriptions Notes p1

62PUBX,40 – Set NMEA Message Output Rate Input message. $PUBX,40,p40x1,p40x2,p40x3,p40x4,p40x5*hh<CR><LF> Parameters Descriptions Note

63PUBX,41 – Set Protocols and Baudrate Input message. $PUBX,41,p41x1,p41x2,p41x3,p41x4,p41x5*hh<CR><LF> Parameters Descriptions Notes

64 7.2 UBX Binary Protocol To obtain the maximum performance from GPS chips, which mainly consists of FV-25, u-blox proposed a proprietary binary pro

65For the calculation of the checksum, u-blox utilizes the low-overhead checksum algorithm, which is the TCP standard (RFC 1145). The calculation of

66R8 IEEE754 Double Precision 8 -1*21023 ~ 21023 ~Value*2-53 CH ASCII / ISO 8859.1 Encoding 1 Table 7.1 The types of data. 7.2.2 Classificati

677.2.4 UBX Messages UBX Class ACK This class is used for responding a CFG message. ACK – ACK (0x05 0x01) Message acknowledged. Header ID Data Len

68ACK – NAK (0x05 0x00) Message not-acknowledged. Header ID Data Length Data Checksum 0xB5 0x62 0x05 0x00 2 See below CK_A CK_B Data Offset byt

69UBX Class AID This class is used to support AGPS function or send aiding data, such as time, position, almanac, and ephemeris, to the GPS receiver.

7Chapter 7 Available NMEA and UBX1 Messages This chapter lists the available NMEA and u-blox proprietary (UBX) messages for the module. Chapter 8 Tro

70AID – DATA (0x0B 0x10) It’s a request to poll all the GPS initial aiding data. This message will activate the sending of AID-INI, AID-HUI, AID-EPH,

71AID – INI (0x0B 0x01) It’s a poll request when “data length” is equal to 0. Poll GPS initial aiding data. Header ID Data Length Data Checksum 0xB5

72 AID – HUI (0x0B 0x02) It’s a poll request when “data length” is equal to 0. Poll GPS health, UTC, and Ionosphere data. Header ID Data Length Data

7348 R4 Alpha3 Klobuchar parameters 52 R4 Beta0 Klobuchar parameters 56 R4 Beta1 Klobuchar parameters 60 R4 Beta2 Klobuchar parameters 64 R4 Beta

74AID – ALM (0x0B 0x30) It’s a poll request when “data length” is equal to 0. Poll all available aiding almanac data. Header ID Data Length Data Che

7528 U4 Almanac – WORD5 32 U4 Almanac – WORD6 36 U4 Almanac – WORD7 NOTE: 1. WORD0 ~ WORD7 contain the data following the Hand-Over Word (HOW) in

76AID – EPH (0x0B 0x31) It’s a poll request when “data length” is equal to 0. Poll all available aiding ephemeris data. Header ID Data Length Data C

7732+n*96 U4 Sub-frame 1 – WORD6 36+n*96 U4 Sub-frame 1 – WORD7 40+n*96 U4 Sub-frame 2 – WORD0 44+n*96 U4 Sub-frame 2 – WORD1 48+n*96

78UBX Class CFG This class is used to configure the GPS module and output the current configuration of the GPS module. The module will respond the AC

7910 – 2 stop bit ; 11 – reserved Bit[16] 0 – LSB first bit order 1 – MSB first bit order Bit[19] 0 – 16x oversampling 1 – 8x oversampling 8+N*20 U4

8 Chapter 1 Introduction In this chapter, the main goal of FV-25 will be described and then the features of the FV-25 module will be specified in or

80CFG – MSG (0x06 0x01) It’s a poll request. Poll a message configuration. Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x01 2 See below C

81Data Offset bytes Format Descriptions Notes 0 U1 Class ID 1 U1 Message ID 2 U1 Message rate on the current target

82CFG – NMEA (0x06 0x17) It’s a poll request. Poll the NMEA protocol configuration. Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x17 0 Non

83CFG – RATE (0x06 0x08) It’s a poll request. Poll the current navigation/measurement rate setting. The module will respond the same message defined

84CFG – CFG (0x06 0x09) It’s a command message. The message will clear, save, and load configurations. The command consists of the three masks (clear

85UBX-CFG-ANT) 11 Reserved 12 ~ 15 Reserved for user applications 16 ~ 31 Reserved

86CFG – TP (0x06 0x07) It’s a poll request. Poll time pulse information. The module will respond the same message defined below (I/O message). Heade

87CFG – NAV (0x06 0x03) It’s a poll request. Poll engine settings for navigation. The module will respond the same message defined below (I/O message

88used in the navigation solution 6 U1 DGPS timetag rounding 1 – enable 0 – disable 7 U1 Timeout for differential correction data (s) 8 U1

89CFG – DAT (0x06 0x06) It’s a poll request. Poll datum setting. The module will respond the same message defined below (I/O message). Header ID Dat

9sensitivity for weak signals without sacrificing accuracy, AGPS function, DGPS function which is supported by RTCM, WAAS, and EGNOS, and flexibility

90seconds) 40 R4 Scale change (ppm) 0.0 ~ 50.0 CFG – DAT (0x06 0x06) It’s an output message. Poll the current datum. If the datum number is –1, t

91CFG – INF (0x06 0x02) It’s a poll request. It’s used to identify the output protocol. Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x02 1

9213 – User1-defined protocol 14 – User2-defined protocol 15 – User3-defined protocol 16 ~ 255 – reserved 1+N*8 U1 Reserved 2+N*8 U2 Reserved

93CFG – RST (0x06 0x04) It’s an input message. It’s used to reset receiver or clear backup data structure. Header ID Data Length Data Checksum 0xB5

94CFG – RXM (0x06 0x11) It’s a poll request. It’s used to poll RXM configuration. The module responds the same message defined below. Header ID Data

95CFG – ANT (0x06 0x13) It’s a poll request. It’s used to poll antenna control settings. The module responds the same message defined below. Header

96CFG – FXN (0x06 0x0E) It’s a poll request. It’s used to poll power saving (FixNow) mode configuration. The module responds the same message defined

97CFG – SBAS (0x06 0x16) It’s a command message. It’s used to configure SBAS systems, such as WAAS, EGNOS, and MSAS. More information about SBAS serv

98CFG – TM (0x06 0x10) It’s a poll request. It’s used to poll time mark configuration. Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x10 0

99CFG – EKF (0x06 0x12) It’s a poll request. It’s used to poll EKF configuration. The module responds the same message defined below. Header ID Data