Unicore FirebirdII Protocol Specification

STANDARD POSITIONING

PROTOCOL SPECIFICATION

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Unicore FirebirdⅡ
GNSS Full-system Dual-frequency
Positioning Products

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Data subject to change without notice.
Unicore FirebirdII Protocol Specification

Revision History
Version Revision History Date
R1.0 First release Oct., 2022

i
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ii
Unicore FirebirdII Protocol Specification

Contents
1 General Protocol ..................................................................................... 1
1.1 Messages .........................................................................................................................1
1.2 Checksum .........................................................................................................................2
1.3 Formats ............................................................................................................................2
1.4 Message Definition ..........................................................................................................3
1.4.1 General Messages ....................................................................................................... 3
1.4.2 Configuration Messages ............................................................................................. 6
1.4.3 Output Messages ....................................................................................................... 23
1.4.4 RAWDATA Message Format ...................................................................................... 42

2 Reference ............................................................................................. 42

I
 List of Tables
Table 1-1 Read Product Information ........................................................................... 3
Table 1-2 Output Product Information......................................................................... 3
Table 1-3 Receiver Reset ............................................................................................. 4
Table 1-4 Command Echo ............................................................................................ 5
Table 1-5 Correct Execution of a Command ................................................................ 5
Table 1-6 Incorrect Execution of a Command ............................................................. 6
Table 1-7 Read Port Configuration .............................................................................. 6
Table 1-8 Set/Output Port Configuration .................................................................... 6
Table 1-9 Read Message Output Configuration .......................................................... 7
Table 1-10 Set/Output Message Output Frequency .................................................... 8
Table 1-11 Message Class and ID ............................................................................... 8
Table 1-12 Read NMEA Configuration ......................................................................... 9
Table 1-13 Read Positioning Frequency Configuration ............................................. 10
Table 1-14 Set/Output Positioning Frequency Configuration ................................... 10
Table 1-15 Read Satellite System Configuration....................................................... 11
Table 1-16 Set/Output Satellite System Configuration ............................................. 11
Table 1-17 Read Height Configuration ...................................................................... 12
Table 1-18 Set/Output Height Configuration............................................................. 12
Table 1-19 Save the Configuration ............................................................................ 12
Table 1-20 Clear the Configuration ............................................................................ 13
Table 1-21 Input Assisted Time Information ............................................................. 13
Table 1-22 Input Assisted Position............................................................................ 14
Table 1-23 Read Assisted Information Configuration ............................................... 14
Table 1-24 Output Assisted Information ................................................................... 14
Table 1-25 Read Awakening Threshold Configuration .............................................. 16
Table 1-26 Set/Output Awakening Command Configuration .................................... 16
Table 1-27 Read Direction Signal Configuration ....................................................... 17
Table 1-28 Set/Output Direction Signal Configuration ............................................. 17
Table 1-29 Read Integrated Navigation Configuration .............................................. 18
Table 1-30 Set/Output Integrated Navigation Configuration .................................... 18
Table 1-31 Read Configuration of Installation Angle ................................................ 19
Table 1-32 Set/Output Configuration of Installation Angle....................................... 19
Table 1-33 Read Configuration of Heading Angle ..................................................... 21
Table 1-34 Set/Output Configuration of Heading Angle ........................................... 21
Table 1-35 Set/Output Time Pulse Configuration ..................................................... 21
Table 1-36 Input Map Feedback ................................................................................ 22
Table 1-37 Output MEMS Sensor Data ...................................................................... 34
Table 1-38 Output Initialization Status ...................................................................... 36
Table 1-39 Output MEMS Sensor Data ...................................................................... 37
Table 1-40 Output Attitude and Heading Information ............................................... 38
Table 1-41 Output Interference Detection Information ............................................. 39

II
Unicore FirebirdII Protocol Specification

Table 1-42 Query Leap Seconds Forecast Information ............................................. 40

Table 1-43 Output Leap Seconds Forecast Information ........................................... 40

III
1 General Protocol
1.1 Messages
In the Unicore protocol, input and output commands are collectively called messages.
Each message is a string composed of ASCII characters.

The basic format of the message is:

$MSGNAME,data1,data2,data3, *CC\r\n
Termination Characters

Checksum

Data Field
Message Header

All messages include the following parts:

 Message header. It starts with ‘$’ (0x24).

 Data field. It follows a delimiter “,” and consists of a number of parameters or data.
The adjacent data are also separated by the delimiter “,”.

 Checksum. It is separated from the previous data by ‘*' (0x2A). See section 1.2 for
the details.

 Termination characters. The input message ends with ‘\r’ (0x0D) or ‘\n' (0x0A) or
any combination of the two. The output message ends with ‘\r\n'.

The total length of each message cannot exceed 128 bytes.

Message header and parameters, as well as letters in the checksum are

case-sensitive, and the command echoes according to your inputs.

Some parameters of the commands can be omitted (marked as optional in the

command description), which means that those parameters can be empty and there is
no character between the two delimiters ‘,,’ or ‘,*’. If there is no special instruction, the
parameter is ignored and the option it controls remains unchanged.
Most of the message headers can be used for both input commands and output
messages. As the input, it sets parameters or queries the current configuration; as the
output, it outputs the receiver information or configuration.

UC-04-FB2 EN R1.0 General Protocol 1

Unicore FirebirdII Protocol Specification

1.2 Checksum
The two characters after ‘*'(0x2A) in the message are the checksum, which is the XOR of
all characters (excluding ‘$' and ‘*') from ‘$' to ‘*'in hexadecimal.

The checksum in the input command is optional. If the input message contains ‘*'
followed by two characters, the checksum is examined. If it is wrong, the command is
not executed, and the receiver outputs the $FAIL message, in which a checksum error
appears. If the message does not contain a checksum, the command is executed
directly.

The output message always contains a checksum. The description of the checksum in
the Unicore protocol is omitted in the following message definition.

1.3 Formats
In the Unicore protocol, the data in the message contains the following types:

String (STR)

The string consists of up to 32 ASCII characters except ‘\r' and ‘\n', such as GPSL1.

Unsigned Integers (UINT)

Unsigned integers range from 0 to 4294967295, and are defined in both decimal and
hexadecimal. A decimal unsigned integer consists of ASCII characters 0 - 9 with a
maximum of 10 characters, such as 123, 4291075193. A hexadecimal unsigned integer
starts with the ASCII character h or H, followed by a string of 0 - 9 and a - f (or A - F),
with a maximum of 8 characters (excluding the starting h or H), such as hE10,
hE41BA7C0.

Signed Integers (INT)

Signed integers are composed of the ASCII characters 0 - 9 and a negative sign, in the
range of -2147483648 to 2147483647, such as 123217754, -245278. It has 10
characters (excluding the negative sign) at most.

Double-precision Floating-point Data (DOUBLE)

Double-precision floating-point data consists of ASCII characters 0 - 9, a negative sign

and decimal points, ranging from -2^1023 to 2^1023, such as 3.1415926,
-9024.12367225. It has 20 characters at most.

2 General Protocol UC-04-FB2 EN R1.0

Unsigned Long Integers (UINT64)
The integer has 16 characters (excluding the starting h or H) at most if it is in
hexadecimal.

1.4 Message Definition

1.4.1 General Messages
1.4.1.1 PDTINFO: Product Information Inquiry
Table 1-1 Read Product Information
Syntax $PDTINFO
Example $PDTINFO
Read product information. The receiver outputs PDTINFO message
Description
after receiving this command.
Input/Output Input
No parameters

Table 1-2 Output Product Information

Syntax $PDTINFO,pdtName,config,hwVer,fwVer,PN,SN
$PDTINFO,UM621N-01,G1B1L1E1,V1.0,R4.0.0Build5428,
Example
2310414000002,000101114303845*4A
Description The receiver outputs product information.
Input/Output Output
Parameter Definition
Parameter Format Description
pdtName STR Product model
Flag of satellite system:
Gx - GPS
Bx - BDS
Lx - GLONASS
config STR
Ex - Galileo
Nx - IRNSS
Note: This flag does not change with configuration
changes.
hwVer STR Hardware version
fwVer STR Firmware version
PN STR Product number (null for a chip)
SN STR Serial number (chip ID for a chip)

UC-04-FB2 EN R1.0 General Protocol 3

Unicore FirebirdII Protocol Specification

1.4.1.2 RESET
Table 1-3 Receiver Reset
Syntax $RESET,type,clrMask
Example $RESET,0,h01 (warm start)
Description Receiver reset
Input/Output Input
Parameter Definition
Parameter Format Description
Reset type
0 - Software reset
UINT
type 1 - Chip-level reset (watchdog reset)
(Optional)
2 - Board-level reset (not supported currently)
3 - Receiver stops working
Set the corresponding bit to 1 to clear the saved
information during the reset.
bit0 - Clear ephemeris
bit1 - Reserve0
bit2 - Clear receiver position and time
bit3 - Clear initial navigation parameter
bit4 - Clear ionosphere correction parameter and UTC
UINT
clrMask parameter
(Optional)
bit5 - Reserve2
bit6 - Reserve3
bit7 - Clear almanac
Three common start methods:
h00 - Hot start
h01 - Warm start
h85/hff - Cold start

Use h85 or hff (recommended) to have a cold start, and an incorrect parameter can
cause the receiver to start in a wrong state.

When a leap second occurs, it may take the receiver 25 minutes to sync with the
UTC time after a cold start reset.

4 General Protocol UC-04-FB2 EN R1.0

1.4.1.3 Command Echo
Table 1-4 Command Echo
Syntax $--TXT,01,01,00,command
Example $GNTXT,01,01,00,PDTINFO*1F
Description Output the command that input by the user currently
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
01 INT Total number of sentences, specified to constant 01
01 INT Current sentence number, specified to constant 01
00 INT Message ID, specified to constant 00
Command STR Unicore command currently input by users

1.4.1.4 OK: Message Response Mechanism

Table 1-5 Correct Execution of a Command
Syntax $OK
Example $OK*04
A response that the receiver executed the command correctly. This
Description
message only outputs at the port receiving the command.
Input/Output Output
No parameters

UC-04-FB2 EN R1.0 General Protocol 5

Unicore FirebirdII Protocol Specification

1.4.1.5 FAIL: Message Response Mechanism

Table 1-6 Incorrect Execution of a Command
Syntax $FAIL,errorCode
Example $FAIL,0*1E
A response that the parameters or the checksum in the input
Description command is incorrect. No response to the illegal command.
This message only outputs at the port receiving the command.
Input/Output Output
Parameter Definition
Parameter Format Description
Error code:
errorCode UINT 0 - Incorrect parameters
1 - Incorrect checksum

1.4.2 Configuration Messages

1.4.2.1 CFGPRT: Configure the Output Port
Table 1-7 Read Port Configuration
Syntax $CFGPRT,portID
Example $CFGPRT,1
Read the receiver port configuration. The receiver outputs CFGPRT
Description
message after receiving this command.
Input/Output Input
Parameter Definition
Parameter Format Description
portID UINT Port number: 0, 1, 2, 4

Table 1-8 Set/Output Port Configuration

Syntax $CFGPRT,portID,addr,baud,inPro,outPro
Example $CFGPRT,1,0,115200,1,3
Description Set or output the port configuration.
Input/Output Input/output
Parameter Definition
Parameter Format Description
Port number:
0 - I2C
UINT 1 - UART0
portID
(optional) 2 - UART1
4 - SPI
If empty, configure the current port

6 General Protocol UC-04-FB2 EN R1.0

 UINT UART: fixed at 0 or null;
addr
(optional) I2C: slave address1, specified to constant 0
UINT If the port is UART, the baud rate could be set as:
baud
(optional) 115200/230400/ 460800
Port input protocol. Set the corresponding bit to 1 to
enable it.
UINT bit0 - UNICORE
inPro
(optional) bit7 - RTCM3.3 (compatible with RTCM3.2)
bit10 - MapInfo input protocol (applicable for integrated
navigation product)
Port output protocol. Set the corresponding bit to 1 to
enable it.
UINT bit0 - UNICORE
outPro
(optional) bit1 - NMEA
bit2 - RTCM3.3 (compatible with RTCM3.2)
bit5 - Command echo

If you need to output a message at a higher rate, such as 10 Hz, increase the baud
rate. Otherwise, incomplete satellite information may appear.

Do not disable the UNICORE input, otherwise it can cause an abnormal command
receiving.

1.4.2.2 CFGMSG: Configure Message Output Frequency

Table 1-9 Read Message Output Configuration
Syntax $CFGMSG,msgClass,msgID
Example $CFGMSG,0,1
Read the message output configuration. The receiver outputs
Description
CFGMSG message after receiving this command.
Input/Output Input
Parameter Definition
Parameter Format Description
Message class (see
msgClass UINT
Table 1-11 Message Class and ID)
Message ID (see
msgID UINT
Table 1-11 Message Class and ID)

1 The default slave address is 0x56 which cannot be changed via commands.

UC-04-FB2 EN R1.0 General Protocol 7

Unicore FirebirdII Protocol Specification

Table 1-10 Set/Output Message Output Frequency

Syntax $CFGMSG,msgClass,msgID,rate/switch
Example $CFGMSG,0,1,1
Description Set or output the message output frequency.
Input/Output Input/output
Parameter Definition
Parameter Format Description
Message class (see
msgClass UINT
Table 1-11 Message Class and ID)
Message ID (see
UINT
msgID Table 1-11 Message Class and ID)
(optional)
If empty, set/output all messages under the above class
Output frequency
The actual output frequency of the NMEA/NOTICE
message is based on the receiver positioning frequency,
and that of the raw data is based on the observation
frequency.
The receiver selects a message to output after
performing N times positioning solutions/observations.
rate/switch UINT For example, if you use the CFGNAV to set a positioning
rate to 2 Hz, and the parameter rate/switch is set to 1,
then the message outputs twice every second. If the
parameter rate/switch is set to 1, then the message
outputs once every second.
The message is disabled when rate/switch is 0.
Each message has a specified range, and the message
would be invalid if the parameter exceeds the range.

Table 1-11 Message Class and ID

Maximum Output
Message Class ID Rate
Frequency
NMEA Message
GGA 0 0 0 to 100
GLL 0 1 0 to 100
GSA 0 2 0 to 100
GSV 0 3 0 to 100
RMC 0 4 0 to 100 ≤ Positioning frequency
VTG 0 5 0 to 100
ZDA 0 6 0 to 100
GST 0 7 0 to 100
GBS 0 8 0 to 100

8 General Protocol UC-04-FB2 EN R1.0

 Raw Measurement Message
RTCM MSM 2 2 0 to 100
RTCM EPH 2 3 0 to 100 ≤ Observations frequency
RTCM STM 2 4 0 to 100

Sensor Fusion Message (For Integrated Navigation Products Only)

0: Disable
GYOACC 4 0 Fixed at 10 Hz
1: Enable
0: Disable
SNRSTAT 4 1 Fixed at 1 Hz
1: Enable
0: Disable
NAVATT 4 2 Fixed at 1 Hz
1: Enable
0: Disable
IMURAW 4 3 Fixed at 100 Hz
1: Enable

Misc Message
0: Disable
CWOUT 5 0 Fixed at 1 Hz
1: Enable

NOTICE Message

TXT (single message) 6 0 0 to 100

≤ Positioning frequency
TXT (multiple messages) 6 1 0 to 100

1.4.2.3 CFGNMEA: Read NMEA Configuration

Table 1-12 Read NMEA Configuration
Syntax $CFGNMEA
Example $CFGNMEA
Read the current NMEA configuration. The receiver outputs the NMEA
Description version H52 (NMEA 4.11) after receiving this command.
The output is $CFGNMEA,H52*26.
Input/Output Input
No parameters

UC-04-FB2 EN R1.0 General Protocol 9

Unicore FirebirdII Protocol Specification

1.4.2.4 CFGNAV: Configure Positioning Frequency

Table 1-13 Read Positioning Frequency Configuration
Syntax $CFGNAV
Example $CFGNAV
Read the positioning frequency configuration. The receiver outputs
Description
CFGNAV message after receiving this command.
Input/Output Input
No parameters

Table 1-14 Set/Output Positioning Frequency Configuration

Syntax $CFGNAV,measRate,navRate,DRRate
Example $CFGNAV,1000,1000,10
Description Set or output positioning frequency configuration
Input/Output Input/output
Parameter Definition
Parameter Format Description
Observations interval, unit: ms;
measRate UINT
1000 (1 Hz), 200 (5 Hz), 100 (10 Hz)
Positioning interval, unit: ms;
navRate UINT
1000 (1 Hz), 200 (5 Hz), 100 (10 Hz)
Initial navigation interval, unit: ms;
DRRate UINT
1000 (1Hz), 100 (10 Hz), 10 (100Hz)

10 General Protocol UC-04-FB2 EN R1.0

1.4.2.5 CFGSYS: Configure Satellite System
Table 1-15 Read Satellite System Configuration
Syntax $CFGSYS
Example $CFGSYS
Read the current satellite system configuration. The receiver outputs
Description
the CFGSYS message after receiving the command.
Input/Output Input
No parameter

Table 1-16 Set/Output Satellite System Configuration

Syntax $CFGSYS,sysMask
Example $CFGSYS,h35155
Set or output satellite system configuration. The receiver resets
Description automatically after receiving the command, and the enabled
frequencies take effect after the reset.
Input/Output Input/output
Parameter Definition
Parameter Format Description
Enabled frequency. Set the corresponding bit to 1 to
enable it.
bit0 - GPS L1CA
bit1 - GPS L2 (reserved)
bit2 - GPS L5
bit3 - GPS L1C (reserved)
bit4 - BDS B1I
bit5 - BDS B2b (reserved)
bit6 - BDS B2a
bit7 - BDS B1C (reserved)
bit8 - GLONASS L1
sysMask UINT
bit9 - GLONASS L2 (reserved)
bit10:11 - Reserved
bit12 - GALILEO E1
bit13 - GALILEO E5b (reserved)
bit14 - GALILEO E5a
bit15 - Reserved
bit16 - QZSS
bit17 - SBAS
bit18 - IRNSS L5 SPS (reserved)
bit19:31 - Reserved for other navigation systems and
augmentation systems

UC-04-FB2 EN R1.0 General Protocol 11

Unicore FirebirdII Protocol Specification

1.4.2.6 CFGGEOID: Configure Height

Table 1-17 Read Height Configuration
Syntax $CFGGEOID
Example $CFGGEOID
Read the current height configuration. The receiver outputs the
Description
CFGGEOID message after receiving the command.
Input/Output Input
No parameter

Table 1-18 Set/Output Height Configuration

Syntax $CFGGEOID,Model
Example $CFGGEOID,1
Description Set or output the height configuration.
Input/Output Input/output
Parameter Definition
Parameter Format Description
0 - Outputs the ellipsoid height
Model UINT (Optional)
1 - Outputs the geoid height

1.4.2.7 CFGSAVE: Save the Configuration

Table 1-19 Save the Configuration
Syntax $CFGSAVE
Example $CFGSAVE
Description Save the current configuration, which is stored in the memory.
Input/Output Input
No parameter

Do NOT power off the product within one second after entering the $cfgsave
command. A power off during this process may cause damage to the receiver’s
configuration, and the configuration will be restored to factory settings.

This command is only applicable for the flash-version products.

12 General Protocol UC-04-FB2 EN R1.0

1.4.2.8 CFGCLR: Clear the Configuration
Table 1-20 Clear the Configuration
Syntax $CFGCLR
Example $CFGCLR
Description Clear current receiver’s configuration.
Input/Output Input
No parameter

The configuration changed by this command takes effect after resetting the
receiver.

1.4.2.9 AIDTIME: Configure Assisted Time

Table 1-21 Input Assisted Time Information
Syntax $AIDTIME,year,month,day,hour,minute,second,millisecond
Example $AIDTIME,2018,4,9,17,41,36,200
Description Input the assisted time, UTC time
Input/Output Input
Parameter Definition
Parameter Format Description
year UINT Year
month UINT Month
day UINT Day
hour UINT Hour
minute UINT Minute
second UINT Second
millisecond UINT Millisecond

UC-04-FB2 EN R1.0 General Protocol 13

Unicore FirebirdII Protocol Specification

1.4.2.10 AIDPOS: Configure Assisted Position

Table 1-22 Input Assisted Position
Syntax $ AIDPOS,Latitude,N,Longitude,E,altitude
Example $ AIDPOS,4002.229934,N,11618.096855,E,37.254
Description Input the assisted position
Input/Output Input
Parameter Definition
Parameter Format Description
Latitude in the format of ddmm.mmmmmm
dd - Degree
Latitude DOUBLE
mm.mmmmmm - Minute
Range: 0 to 90
North or south latitude indicator
N STRING N - North latitude
S - South latitude
Longitude in the format of dddmm.mmmmmm
ddd - Degree
Longitude DOUBLE
mm.mmmmmm - Minute
Range: 0 to 180
East or west longitude indicator
E STRING E - East longitude
W - West longitude
altitude DOUBLE Ellipsoid height, unit: m

1.4.2.11 AIDINFO: Configure Assisted Information

Table 1-23 Read Assisted Information Configuration
Syntax $AIDINFO
Example $AIDINFO
Read the assisted information configuration. The receiver outputs
Description
AIDINFO message after receiving this command.
Input/Output Input
No parameter

Table 1-24 Output Assisted Information

$AIDINFO,GPSRS,GPSUS,BDSRS,BDSUS,GALRS,GALUS,GLORS,GLOUS,IRN
Syntax
RS,IRNUS,AType
$AIDINFO,H003FFFFFF7,H000000FA00,H0000003F7F,H0000001A3F,H000
Example
0000000,H0000000000,H0000000000,H0000000000,,,H0000000F*52
Description Output the status and type of the assisted information
Input/Output Output
Parameter Definition

14 General Protocol UC-04-FB2 EN R1.0

Parameter Format Description
Receiving status of the GPS ephemeris. Set the corresponding
GPSRS UINT64 bit to 1 as long as the received data pass the verification.
Fill Null when the GPS is not enabled.
Set the corresponding bit to 1 when GPS ephemeris is
GPSUS UINT64 effective and can be used in positioning.
Fill Null when the GPS is not enabled.
Receiving status of the BDS ephemeris. Set the corresponding
BDSRS UINT64 bit to 1 as long as the received data pass the verification.
Fill Null when the BDS is not enabled.
Set the corresponding bit to 1 when BDS ephemeris is
BDSUS UINT64 effective and can be used in positioning.
Fill Null when the BDS is not enabled.
Receiving status of the GAL ephemeris. Set the corresponding
GALRS UINT64 bit to 1 as long as the received data pass the verification.
Fill Null when the GAL system is not enabled.
Set the corresponding bit to 1 when GAL ephemeris is
GALUS UINT64 effective and can be used in positioning.
Fill Null when the GAL system is not enabled.
Receiving status of the GLO ephemeris. Set the corresponding
GLORS UINT64 bit to 1 as long as the received data pass the verification.
Fill Null when the GLO system is not enabled.
Set the corresponding bit to 1 when GLO ephemeris is
GLOUS UINT64 effective and can be used in positioning.
Fill Null when the GLO system is not enabled.
Receiving status of the IRNSS ephemeris. Set the
corresponding bit to 1 as long as the received data pass the
IRNRS UINT64
verification.
Fill Null when the IRNSS system is not enabled.
Set the corresponding bit to 1 when IRNSS ephemeris is
IRNUS UINT64 effective and can be used in positioning.
Fill Null when the IRNSS system is not enabled.
Assistance type
Bit 0:4 - Corresponding to the assisted
GPS/BDS/GAL/GLO/IRNSS ephemeris respectively
Bit 5 - Assisted position valid
Atype UINT Bit 6 - Using the assisted position
Bit 7:8 - Reserved
Bit 9 - Assisted time valid
Bit 10 - Using the assisted time
Bit 11:16 - Reserved

UC-04-FB2 EN R1.0 General Protocol 15

Unicore FirebirdII Protocol Specification

1.4.2.12 CFGACC: Configure Awakening Command (For

Integrated Navigation Product)
Table 1-25 Read Awakening Threshold Configuration
Syntax $CFGACC
Example $CFGACC
Read the parameter of the receiver’s accelerometer threshold. The
Description receiver outputs the awakening threshold of the accelerometer after
receiving the command.
Input/Output Input
No parameter

Table 1-26 Set/Output Awakening Command Configuration

Syntax $CFGACC,accthreshold,modeenable
Example $CFGACC,100,1
Description Set or output the awakening configuration
Input/Output Input/output
Parameter Definition
Parameter Format Description
Configure the accelerometer threshold
accthreshold UINT
under the awakening mode, unit: mg
Enable or disable awakening function
modeenable UINT 0: Disable
1: Enable

16 General Protocol UC-04-FB2 EN R1.0

1.4.2.13 CFGODOFWD: Configure Direction Signal (For Integrated
Navigation Product)
Table 1-27 Read Direction Signal Configuration
Syntax $CFGODOFWD
Example $CFGODOFWD
Description Read the configuration of odometer’s direction signal
Input/Output Input
No parameter

Table 1-28 Set/Output Direction Signal Configuration

Syntax $CFGODOFWD,FWD
Example $CFGODOFWD,1
Set or output the odometer’s direction signal in the integrated
Description
navigation module.
Input/Output Input/Output
Parameter Definition
Parameter Format Description
Mode configuration:
FWD UINT (optional) 0 - Low level forward, high level backward
1 - High level forward, low level backward

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Unicore FirebirdII Protocol Specification

1.4.2.14 CFGINS: Configure Integrated Navigation (For

Integrated Navigation Products Only)
Table 1-29 Read Integrated Navigation Configuration
Syntax $CFGINS
Example $ CFGINS
Read the integrated navigation configuration. The receiver outputs the
Description
CFGINS message after receiving the command.
Input/Output Input
No parameter

Table 1-30 Set/Output Integrated Navigation Configuration

Syntax $CFGINS,mode,ImusrcType,OdosrcType,MapsrcType
Example $CFGINS,1,1,1,4
Description Set or output the integrated navigation mode and IMU input.
Input/Output Input/Output
Parameter Definition
Parameter Format Description
Mode configuration:
0 - Disable the integrated navigation function.
The NMEA messages only output the GNSS
mode UINT (Optional)
positioning results.
1 - Vehicle-mounted mode
9 - Reserved
0 - Disable IMU input
ImusrcType UINT (Optional)
1 - Built-in IMU chip input
0 - Disable the odometer’s signal input
OdosrcType UINT (Optional) 1 - Input from the built-in odometer pulse
counter
0 - Disable Map input
MapsrcType UINT (Optional) 4 - Use the UART to input the map-matching
information

18 General Protocol UC-04-FB2 EN R1.0

1.4.2.15 CFGROTAT: Configure Installation Angle (For Integrated
Navigation Products Only)
Table 1-31 Read Configuration of Installation Angle
Syntax $CFGROTAT
Example $CFGROTAT
Read the current installation angle of the positioning module. The
Description
receiver outputs the CFGROTAT message after receiving the command.
Input/Output Input
No parameter

Table 1-32 Set/Output Configuration of Installation Angle

Syntax $CFGROTAT,angleX,angleY,angleZ,mode
Example $CFGROTAT,0,0,0,2
Set or output the configuration of the module’s installation angle
Description
relative to the vehicle body coordinate.
Input/Output Input/Output
Parameter Definition
Parameter Format Description
Rotation angle of the module X axis relative to the
angleX UINT (Optional) vehicle body coordinate X axis (right-hand screw
rule) , 0 to 36000, unit: 0.01 degree
Rotation angle of the module Y axis relative to the
angleY UINT (Optional) vehicle body coordinate Y axis (right-hand screw
rule) , 0 to 36000, unit: 0.01 degree
Rotation angle of the module Z axis relative to the
angleZ UINT (Optional) vehicle body coordinate Z axis (right-hand screw
rule), 0 to 36000, unit: 0.01 degree
Configuration mode of installation angle
0 - General installation mode. The accuracy of
input installation angle is rough (within 10
mode UINT (Optional) degrees)
2 - Auto installation mode. No need to input the
installation angle but need to complete a
calibration.

UC-04-FB2 EN R1.0 General Protocol 19

Unicore FirebirdII Protocol Specification

Module Coordinate Align the module coordinate with the body coordinate

Rotate the module γ Rotate the module α Rotate the module β

deg around the Z axis deg around the X axis deg around the Y axis
(right-hand screw rule) (right-hand screw rule) (right-hand screw rule)

20 General Protocol UC-04-FB2 EN R1.0

1.4.2.16 CFGCOG: Configure Heading Angle (For Integrated
Navigation Products Only)
Table 1-33 Read Configuration of Heading Angle
Syntax $CFGCOG
Example $CFGCOG
Description Read the output configuration of heading angle
Input/Output Input
No parameter

Table 1-34 Set/Output Configuration of Heading Angle

Syntax $CFGCOG,mode
Example $CFGCOG,0
Description Set or output heading angle configuration
Input/Output Input/Output
Parameter Definition
Parameter Format Description
0 - Heading angle is aligned with the front of the
vehicle
mode UINT (Optional)
1 - Heading angle is aligned with the driving
direction

1.4.2.17 CFGTP: Configure PPS

Table 1-35 Set/Output Time Pulse Configuration
Syntax $CFGTP,interval,length,flag,antDelay,rfDelay,usrDelay
Example $CFGTP,1000000,500000,1,0,800,0
Description Set or output time pulse configuration.
Input/Output Input/output
Parameter Definition
Parameter Format Description
Time pulse frequency, unit: μs.
interval UINT (optional)
(specified to constant 1000000)
Time pulse width, unit: μs
(1 ≤ length < Interval)
length UINT (optional) (High-level when the rising edge is aligned to top of
second; low-level when the falling edge is aligned to
top of second)
Time pulse configuration:
flag UINT (optional)
Bit 0

UC-04-FB2 EN R1.0 General Protocol 21

Unicore FirebirdII Protocol Specification

0 - Disable time pulse output

1 - Enable time pulse output
Bit 1
0 - Rising edge at top of second
1 - Falling edge at top of second
Bit 2
0 - Output when positioning
1 - Output when switching on the receiver
antDelay INT (optional) Antenna delay, unit: ns (-32768 to 32767)
rfDelay INT (optional) RF delay, unit: ns (-32768 to 32767)
User-set delay, unit: ns

usrDelay INT (optional) (-2147483648 to 2147483647)

Modifying the delay may result in a loss of precision
when time pulse is adapting to the value.

1.4.2.18 MAPFB: Map Feedback Message (For Integrated

Navigation Products Only)
Table 1-36 Input Map Feedback
$MAPFB,hhmmss.sss,TotalRoadCount,RoadIdx,RoadType,
Syntax
Probability,LatDiff,LonDiff,UpDiff,RoadWidth,RoadAzi*cs
$MAPFB, 082324.000,3,1,1,520,15,-4,0,4,4945
Example $MAPFB, 082324.000,3,2,1,320,25,8,0,3,4745
$MAPFB, 082324.000,3,3,1,160,-17,-4,0,8,4645
Description Input map feedback
Input/Output Input
Parameter Definition
Parameter Format Description
hhmmss.sss STR UTC timestamp
TotalRoadCount INT Total number of the matched road
Road number
RoadIdx INT Each message only outputs one road-matching
information
Road type
RoadType INT 0 - Invalid, 1 - Normal, 2 - tunnel, 3 - roundabout,
4 - viaduct, 5 - bridge
Probability INT Matching probability, unit: 10-3
LatDiff INT Latitude offset, unit: 10-6 deg
LonDiff INT Longitude offset, unit: 10-6 deg
UpDiff INT Height offset, unit: m

22 General Protocol UC-04-FB2 EN R1.0

 RoadWidth INT Road width, unit: m
RoadAzi INT Road angle, unit: 10-2 deg
Checksum
CS STR A hexadecimal number obtained by calculating an
XOR of all characters from ‘$' to ‘*' in this message

The command needs to be sent to the module within 700ms after the current
integer seconds, for example, the current is 1 second, and the matching protocol
needs to be sent to the module within 1.7 seconds.

1.4.3 Output Messages

1.4.3.1 NmeaVer h52

GGA
$--
Syntax GGA,time,Lat,N,Lon,E,FS,NoSV,HDOP,msl,M,Altref,M,DiffAge,DiffStati
on*cs
$GPGGA,060845.00,4004.74005,N,11614.19613,E,1,10,0.85,53.5,M,,
Example
M,,*7B
Description GNSS positioning data
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
UTC time, in the format of hhmmss.ss
hh - Hour
time STR
mm - Minute
ss.ss - Second
Latitude, in the format of ddmm.mmmmm
Lat STR dd - Degree
mm.mmmmm - Minute
North or south latitude indicator
N STR N - North latitude
S - South latitude
Longitude, in the format of dddmm.mmmmm
Lon STR
ddd - Degree

UC-04-FB2 EN R1.0 General Protocol 23

Unicore FirebirdII Protocol Specification

mm.mmmmm - Minute
East longitude or west longitude indicator
E STR E - East longitude
W - West longitude
Positioning status indicator
0 - Invalid
1 - Point positioning
FS UINT 2 - Differential positioning
4 - RTK fixed solution
5 - RTK float solution
7 - INS positioning
NoSV UINT Number of satellites participating in positioning
Horizontal dilution of precision, 0.00~99.99, the value is
HDOP DOUBLE
99.99 when not positioning
msl DOUBLE Altitude, fixedly output 1 decimal place
M STR Unit of altitude, specified to constant M
Altref DOUBLE Geoidal separation, fixedly output one decimal place.
M STR Unit of Geoidal separation, specified to constant M
Differential correction latency, in seconds
DiffAge DOUBLE
Null for non-differential positioning
Differential Reference station ID
DiffStation DOUBLE
Null for non-differential positioning
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

GBS
Syntax $-GBS,time,errLat,errLon,Lon,errAlt,Svid,Prob,Bias,Std,systemID*cs
Example $GPGBS,121314.00,0.5,0.6,0.9,03,,100.4,5.0,1,0*5C
Description RAIM error information
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
time STR UTC time, in the format of hhmmss.ss

24 General Protocol UC-04-FB2 EN R1.0

 hh - Hour
mm - Minute
ss.ss - Second
errLat STR Latitude error in the format of e.e, unit: m
errLon STR Longitude error in the format of e.e, unit: m
errAlt STR Altitude error in the format of e.e, unit: m
Number of satellites that most likely have problems. In
Svid STR
the format of nn
Probability of missed detection for the satellites that
Prob UINT
most likely have problems. Specified to constant null.
Estimation error of the satellites that most likely have
Bias UINT
problems.
Std UINT Standard deviation of the estimation error
GNSS system ID
1 - GPS/WAAS system ID
2 - GLO/SDCM system ID
systemID UINT 3 - GAL/EGNOS system ID
4 - BDS/BDSSBAS system ID
5 - QZSS/MSAS system ID
6 - IRNSS/GAGAN system ID
Signal ID defined by NMEA protocol.
GPS:
1 = L1 C/A
5 = L2C-M
8 = L5-Q

Galileo:
1 = E5a
2 = E5b
7 = L1 BC

signalID UINT BeiDou:

1 = B1I
3 = B1C
5 = B2a
6 = B2b

GLONASS:
1 = G1 C/A
3 = G2 C/A

IRNSS:
1 = L5 SPS

UC-04-FB2 EN R1.0 General Protocol 25

Unicore FirebirdII Protocol Specification

QZSS:
1 = L1
5 = L2C-M
8 = L5-Q

GLL
Syntax $--GLL,Lat,N,Lon,E,time,Valid,Mode*cs
Example $GPGLL,4004.74005,N,11614.19613,E,060845.00,A,A*6F
Description Geographic position - Longitude/Latitude
Input/Output Output
Parameter Definition
Format Format Format
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
Latitude, in the format of ddmm.mmmmm
Lat STR dd - Degree
mm.mmmmm - Minute
North or south latitude indicator
N STR N - North latitude
S - South latitude
Longitude, in the format of dddmm.mmmmm
Lon STR ddd - Degree
mm.mmmmm - Minute
East longitude or west longitude indicator
E STR E - East longitude
W - West longitude
UTC time, in the format of hhmmss.ss
hh - Hour
time STR
mm - Minute
ss.ss - Second
Position valid indicator
Valid STR V - Invalid
A - Valid
Positioning system mode indicator
Mode STR N - Not positioning
A - Single Point positioning

26 General Protocol UC-04-FB2 EN R1.0

 D - Differential positioning
E - INS positioning
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

GSA
$--
Syntax GSA,Smode,FS,sv1,sv2,sv3,sv4,sv5,sv6,sv7,sv8,sv9,sv10,sv11,sv12,PD
OP,HDOP,VDOP,systemID*cs
Example $GPGSA,A,3,02,03,06,09,12,17,19,23,28,25,,,1.34,0.85,1.04,1*1E
Description GNSS dilution of precision and active satellites
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
Positioning mode specified states
Smode STR M - Manually specify 2D or 3D positioning
A - Automatically switch to 2D or 3D positioning
Positioning mode
1 - Not positioning
FS UINT
2 - 2D positioning or INS positioning
3 - 3D positioning
ID of satellites participating in positioning
When there are less than 12 satellites participating in
positioning, the insufficient area is filled in empty; when
there are more than 12 satellites, it only outputs the first
12 satellites.
Satellite IDs are as follows.
sv1 to sv12 UINT
GPS: 01 to 32; WAAS: 33 to 64
BDS: 01 to 64; BDSSBAS: 65 to 79
GLO: 65 to 99; SDCM: 33 to 64
GAL: 01 to 36; EGNOS: 37 to 64
QZSS: 01 to 10; MSAS: 33 to 64
IRNSS: 01 to 15; GAGAN: 33 to 64
PDOP DOUBLE Position dilution of precision, 0.00 to 99.99, the value is

UC-04-FB2 EN R1.0 General Protocol 27

Unicore FirebirdII Protocol Specification

99.99 when not positioning

Horizontal dilution of precision, 0.00 to 99.99, the value is
HDOP DOUBLE
99.99 when not positioning
Vertical dilution of precision, 0.00 to 99.99, the value is
VDOP DOUBLE
99.99 when not positioning
GNSS system ID
1 - GPS/WAAS system ID
2 - GLO/SDCM system ID
systemID UINT 3 - GAL/EGNOS system ID
4 - BDS/BDSSBAS system ID
5 - QZSS/MSAS system ID
6 - IRNSS/GAGAN system ID
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

GSV
$--
Syntax GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cno1,sv2,elv2,az2,cno2,sv3,elv3,
az3,cno3,sv4,elv4,az4,cno4, signalID*cs
$GPGSV,3,01,11,02,34,277,41,03,16,043,35,05,04,215,35,06,69,333,48,0*
57
$GPGSV,3,02,11,09,25,110,41,12,31,305,43,17,55,116,46,19,76,088,46,0*
56
$GPGSV,3,03,11,23,23,077,40,25,04,328,32,28,05,171,36,0*67
Example $GBGSV,3,01,12,01,37,145,42,02,34,225,39,03,44,188,42,04,25,123,37,0*
4C
$GBGSV,3,02,12,05,17,249,36,06,30,169,38,07,03,188,31,08,69,027,43,0*
4E
$GBGSV,3,03,12,09,09,186,34,10,15,211,36,12,26,306,40,13,60,316,44,0*
48
GNSS satellites in view
Each GSV message contains information for only 4 satellites. When
Description
the number of satellites exceeds 4, the receiver sends multiple GSV
messages continuously
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS/WAAS satellite information
-- STR
GB - BDS/BDSSBAS satellite information
GA - GAL/EGNOS satellite information

28 General Protocol UC-04-FB2 EN R1.0

 GL - GLO/SDCM satellite information
GI - IRNSS/GAGAN satellite information
GQ - QZSS/MASAS satellite information
Total number of GSV messages, the minimum value is 1.
NoMsg is the total number of GSV messages in this
NoMsg UINT system, for example:
NoMsg in GPGSV is the total number of GPGSV messages,
excluding the number of GBGSV messages
Number of the current GSV message. The minimum value
MsgNo UINT is 1. MsgNo is the number of the GSV message in the
current satellite system
NoSv UINT Total number of visible satellites in the current system
Satellite IDs of the first to fourth satellite
GPS: 01 to 32; WAAS: 33 to 64
BDS: 01 to 64; BDSSBAS: 65 to 79
sv1 to sv4 UINT GLO: 65 to 99; SDCM: 33 to 64
GAL: 01 to 36; EGNOS: 37 to 64
QZSS: 01 to 10; MSAS: 33 to 64
IRNSS: 01 to 15; GAGAN: 33 to 64
Elevation of the first to fourth satellite (0 to 90 degrees),
elv1 to elv4 UINT fixed output of 2 digits, add leading zeros if less than 2
digits
Azimuth of the first to fourth satellite (0 to 359 degrees),
az1 to az4 UINT fixed output of 3 digits, add leading zeros if less than 3
digits
CNR of the first to fourth satellite (0 to 99 dB-Hz), fixed
cno1 to cno4 UINT output of 2 digits, add leading zeros if less than 2 digits.
Fill null for untracked satellites
Signal ID defined by NMEA protocol.
GPS:
1 = L1 C/A
5 = L2C-M
8 = L5-Q

Galileo:
signalID UINT 1 = E5a
2 = E5b
7 = L1 BC

BeiDou:
1 = B1I
3 = B1C
5 = B2a

UC-04-FB2 EN R1.0 General Protocol 29

Unicore FirebirdII Protocol Specification

6 = B2b

GLONASS:
1 = G1 C/A
3 = G2 C/A

IRNSS:
1 = L5 SPS

QZSS:
1 = L1
5 = L2C-M
8 = L5-Q
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

RMC
$--
Syntax
RMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode,navStates*cs
$GPRMC,060845.00,A,4004.74005,N,11614.19613,E,0.000,,180817,,,A,V
Example
*0B
Description The recommended minimum data
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
UTC time, in the format of hhmmss.ss
hh - Hours
time STR
mm - Minute
ss.ss - Second
Position valid indicator
status STR V - Invalid
A - Valid
Latitude, in the format of ddmm.mmmmm
Lat STR dd - Degree
mm.mmmmm - Minute

30 General Protocol UC-04-FB2 EN R1.0

 North or south latitude indicator
N STR N - North latitude
S - South latitude
Longitude, in the format of dddmm.mmmmm
Lon STR ddd - Degree
mm.mmmmm - Minute
East longitude or west longitude indicator
E STR E - East longitude
W - West longitude
Speed over ground, unit: knot
spd DOUBLE
Fixedly output 3 decimal places
Course over ground, unit: degree, calculated clockwise
cog DOUBLE
from north.
UTC date, in the format of ddmmyy
dd - Day
date STR
mm - Month
yy - Year
mv DOUBLE Magnetic variation, specified to null
mvE STR Magnetic variation direction, specified to null
Positioning mode
N - Not positioning
mode STR A - Point positioning
D - Differential positioning
E - INS positioning
Navigation states flag, fixedly output ‘V’
navStates STR
V - Device does not provide navigation state information
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

UC-04-FB2 EN R1.0 General Protocol 31

Unicore FirebirdII Protocol Specification

VTG
Syntax $--VTG,cogt,T,cogm,M,sog,N,kph,K,mode*cs
Example $GPVTG,,T,,M,0.000,N,0.000,K,A*23
Description Course over ground and ground speed
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
Course over ground with reference to true north (0.000 to
cogt DOUBLE
359.999 degrees)
T STR Course flag, specified to constant T
Course over ground with reference to magnetic north (0.000
cogm DOUBLE
to 359.999 degrees)
M STR Course flag, specified to constant M
sog DOUBLE Speed over ground, unit: knot
N STR Unit of speed, specified to constant N
kph DOUBLE Speed over ground, unit: km/h
K STR Unit of speed, specified to constant K
Positioning mode
N - Not positioning
mode STR A - Point positioning
D - Differential positioning
E - Inertial positioning
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

ZDA
Syntax $--ZDA,time,day,mon,year,ltzh,ltzn*cs
Example $GPZDA,060845.00,18,08,2017,00,00*6C
Description Time and date
Input/Output Output
Parameter Definition
Parameter Format Description
-- STR Positioning system flag

32 General Protocol UC-04-FB2 EN R1.0

 GP - GPS system standalone positioning
GB - BDS system standalone positioning
GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
UTC time, in the format of hhmmss.ss
hh - Hours
time STR
mm - Minute
ss.ss - Second
day UINT UTC day with two digits, 01 to 31
mon UINT UTC month with two digits, 01 to 12
year UINT UTC year with four digits
ltzh UINT Local zone hours (fixed output 00)
ltzn UINT Local zone minutes (fixed output 00)
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

GST
Syntax $--GST,time,rngRMS,stdMajor,stdMinor,hdg,stdLat,stdLon,stdAlt*cs
Example $GPGST,060845.00,0.6,,,,0.07,0.09,0.09*47
Description GNSS pseudorange error statistics
Input/Output Output
Parameter Definition
Parameter Format Description
Positioning system flag
GP - GPS system standalone positioning
GB - BDS system standalone positioning
-- STR GA - GAL system standalone positioning
GL - GLO system standalone positioning
GI - IRNSS system standalone positioning
GN - Dual or multiple system joint positioning
UTC time, in the format of hhmmss.ss
hh - Hour
time STR
mm - Minute
ss.ss - Second
Standard deviation of pseudorange error, in meters, with a
rngRMS DOUBLE
maximum of 99.9
Standard deviation of semi-major axis of the error ellipse,
stdMajor DOUBLE
in meters.

UC-04-FB2 EN R1.0 General Protocol 33

Unicore FirebirdII Protocol Specification

Specified to null
Standard deviation of semi-minor axis of the error ellipse,
stdMinor DOUBLE in meters.
Specified to null
Orientation of semi-major axis of the error ellipse, in
hdg DOUBLE
degrees, clockwise from north. Specified to null
stdLat DOUBLE Standard deviation of latitude error , in meters
stdLon DOUBLE Standard deviation of longitude error, in meters
stdAlt DOUBLE Standard deviation of altitude error , in meters
Checksum
cs STR A hexadecimal number obtained by calculating an XOR of
all characters from ‘$' to ‘*' in this message

1.4.3.2 Sensor Fusion Message (For Integrated Navigation

Products Only)

GYOACC
Table 1-37 Output MEMS Sensor Data
$GYOACC,date,time,gyroX,gyroY,gyroZ,gyroPeriod,accX,accY,accZ,acc
Syntax
Period,temp,speed,pulsePeriod,fwd*cs
$GYOACC,081118,053152.000,0.017618,0.031686,0.019729,200,6.489
Example
322,-6.913150,2.960812,200,0,5,200,1*01
Output the sensor data of MEMS and odometer etc. This message is
Description
only used in GNSS + INS integrated products.
Input/Output Output
Parameter Definition
Parameter Format Description
UTC date in the format of ddmmyy
dd - Day
date STR mm - Month
yy - Year
Fill null if no exact year, month and day are parsed.
UTC time in the format of hhmmss.sss
hh - Hour
time STR mm - Minute
ss.sss - Second
Fill null if no exact hour, minute and second are parsed.
gyroX DOUBLE X-axis angular velocity of inertial device, unit: rad/s
gyroY DOUBLE Y-axis angular velocity of inertial device, unit: rad/s
gyroZ DOUBLE Z-axis angular velocity of inertial device, unit: rad/s
gyroPeriod UINT Output interval of gyroscope data, unit: ms
accX DOUBLE X-axis acceleration of inertial device, unit: m/s2

34 General Protocol UC-04-FB2 EN R1.0

 accY DOUBLE Y-axis acceleration of inertial device, unit: m/s2
accZ DOUBLE Z-axis acceleration of inertial device, unit: m/s2
accPeriod UINT Output interval of accelerometer data, unit: ms
Temperature, unit: °C
temp INT
No meaning if not connecting a temperature sensor
Vehicle speed pulse
speed INT
No meaning if not accessing the pulse signal.
Output interval of pulses. Unit: ms
pulsePeriod UINT
No meaning if not accessing the pulse signal.
Vehicle direction signal
0: Forward
fwd UINT
1: Backward
No meaning if not accessing the signal.
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

Note:
 To output GYOACC message at 10 Hz, you need to set the baud rate of UM621N
serial port 1 or 2 to 230400 bps.
 GYOACC message is based on the body coordinate defined as follows:
- Positive direction of X axis: Driver’s right-hand direction, horizontal.
- Positive direction of Y axis: Vehicle forward direction, horizontal.
- Positive direction of Z axis: Vertical to the body plane, upward.

UC-04-FB2 EN R1.0 General Protocol 35

Unicore FirebirdII Protocol Specification

SNRSTAT
Table 1-38 Output Initialization Status
Syntax $SNRSTAT,insstatus,odostatus,InstallState,mapstat*cs
Example $SNRSTAT,3,0,0,2*5C
Description Output initialization status
Input/Output Output
Parameter Definition
Parameter Format Description
INS initialization state:
-1: IMU device failure
0: Disable
insstatus INT
1: Initialization started
2: Known installation angle
3: Initialization completed
Odometer initialization status:
-1: Odometer device failure
0: Disable
odostatus INT
1: Initialization of scale factor
2: Initialization of scale factor is completed
3: Scale factor calibration is completed
-1: IMU device failure, unable to estimate the
installation angle
0: Calibration in progress
1: The quality of current satellite information is
InstallState INT
insufficient and better satellite conditions are needed
2: The current vehicle mobility conditions are
insufficient, and acceleration is required
3: The current carrier speed is too low, and it’ required
to increase the speed
-2: Abnormal map data is detected
-1: Serial port is not configured to input MAP
information
mapstat INT 0: The serial port does not receive MAP information or
the MAP information transmission times out
1: The MAP information is received but not applied to
the integrated navigation

36 General Protocol UC-04-FB2 EN R1.0

 2: The MAP information is received and applied to the
integrated navigation
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

IMURAW
Table 1-39 Output MEMS Sensor Data
Syntax $IMURAW,date,time,gyroX,gyroY,gyroZ,accX,accY,accZ*cs
$IMURAW,020822,111025.150,0.005127,0.000999,0.000000,-
Example
0.087065,-0.052059,9.891868*03
Output the raw data of the MEMS sensor
Description This message is only applicable for the GNSS and INS integrated
product
Input/Output Output
Parameter Definition
Parameter Format Description
UTC date in the format of ddmmyy
dd - Day
date STR mm - Month
yy - Year
Fill null if no exact year, month and day are parsed.
UTC time in the format of hhmmss.sss
hh - Hour
time STR mm - Minute
ss.sss - Second
Fill null if no exact hour, minute and second are parsed.
gyroX DOUBLE X-axis angular velocity of inertial device, unit: rad/s
gyroY DOUBLE Y-axis angular velocity of inertial device, unit: rad/s
gyroZ DOUBLE Z-axis angular velocity of inertial device, unit: rad/s
accX DOUBLE X-axis acceleration of inertial device, unit: m/s2
accY DOUBLE Y-axis acceleration of inertial device, unit: m/s2
accZ DOUBLE Z-axis acceleration of inertial device, unit: m/s2
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

UC-04-FB2 EN R1.0 General Protocol 37

Unicore FirebirdII Protocol Specification

NAVATT
Table 1-40 Output Attitude and Heading Information
Syntax $NAVATT,time,quality, roll_v,pitch_v,yaw_v,roll_acc,pitch_acc,yaw_acc*cs
Example $NAVATT,091649.00,0,-3562,-43265,0,0,0,0*31
Description Output the vehicle’s attitude and heading information
Input/Output Output
Parameter Definition
Parameter Format Description
UTC time in the format of hhmmss.sss
hh - Hour
time STR
mm - Minute
ss.sss - Second
Current quality
0 - Invalid
quality UINT 1 - Externally set
2 - Coarse
3 - Precise
roll_v DOUBLE Roll; Unit: degree; Range: 0.00001
pitch_v DOUBLE Pitch; Unit: degree; Range: 0.00001
yaw_v DOUBLE Yaw; Unit: degree; Range: 0.00001
roll_acc DOUBLE Roll accuracy; Unit: degree; Range: 0.00001
pitch_acc DOUBLE Pitch accuracy; Unit: degree; Range: 0.00001
yaw_acc DOUBLE Yaw accuracy; Unit: degree; Range: 0.00001
Checksum
cs STR A hexadecimal number obtained by calculating an XOR
of all characters from ‘$' to ‘*' in this message

1.4.3.3 NOTICE Message

NOTICE maintenance information, which is used by Unicore for research and
development. See the following for the syntax of the output message.

$--TXT,xx,xx,01,text message

Message ID, specified to 01

Current sentence number
Total number of sentences

38 General Protocol UC-04-FB2 EN R1.0

1.4.3.4 Misc Message

CWOUT
Table 1-41 Output Interference Detection Information
$CWOUT,CWFlagOut,CWToneFreqOut_GPL1,CWRatioOut-
GPL1,CWToneFreqOut_GL,CWRatioOut-
Syntax
GL,CWToneFreqOut_BDB1,CWRatioOut-
BDB1,CWToneFreqOut_L5,CWRatioOut-L5
$CWOUT,1,1575620,-100,1602100,-80,1561088,-
Example
90,1176470,-79*7E
Description Output interference detection information
Input/Output Output
Parameter Definition
Parameter Format Description
Interference flag
CWFlagOut UINT 0: No interference
1: Having interference
CWToneFreqOut_GPL1 UINT GPSL1 interference signal frequency; Unit: KHz
CWRatioOut-GPL1 INT GPSL1 interference strength; -150 to 0 in dBm
GLONASSL1interference signal frequency; Unit:
CWToneFreqOut_GL UINT
KHz
GLONASSL1 interference strength; -150 to 0 in
CWRatioOut-GL INT
dBm
CWToneFreqOut_BDB1 UINT BDS B1 interference signal frequency; Unit: KHz
CWRatioOut-BDB1 INT BDS B1 interference strength; -150 to 0 in dBm
CWToneFreqOut_L5 UINT L5 interference signal frequency; Unit: KHz
CWRatioOut-L5 INT L5 interference strength; -150 to 0 in dBm

UC-04-FB2 EN R1.0 General Protocol 39

Unicore FirebirdII Protocol Specification

LSF
Table 1-42 Query Leap Seconds Forecast Information
Syntax $LSF,system
Example $LSF,1
Query leap seconds forecast information of the specified satellite, and
Description
the receiver outputs LSF message after receiving the command
Input/Output Input
Parameter Definition
Parameter Format Description
Query the system corresponding to the leap seconds
forecast information
0 - GPS
system UINT 1 - BDS
2 - GLO
3 - GAL
4 - IRNSS

Table 1-43 Output Leap Seconds Forecast Information

$LSF,system,flag,utcTLS,utcTLSF,utcTOT,utcWN,utcDN,utcWNLSF,utcA0
Syntax
,utcA1
Example $LSF,0,1,15,16,462836,82,6,86,7811626,14
Description Output leap seconds forecast information
Input/Outp
Output
ut
Parameter Definition
Parameter Format Description
Output the system corresponding to the leap seconds
forecast information
0 - GPS
System UINT 1 - BDS
2 - GLO
3 - GAL
4 - IRNSS
Validity flag of lead seconds forecast information
Flag UINT 0: Invalid
1: Valid
Time difference between UTC and the system before a
utcTLS UINT leap second event occurs, in seconds;
GLO system does not have this parameter
Time difference between UTC and the system after a leap
utcTLSF UINT second event occurs, in seconds;
GLO system does not have this parameter

40 General Protocol UC-04-FB2 EN R1.0

 UTC reference seconds of week, in seconds (Fill 0 for
utcTOT UINT BDS)
GLO system: the parameter corresponds to GLO UTC A0;
UTC reference week number, in weeks (Fill 0 for BDS)
utcWN UINT
GLO system: the parameter corresponds to GLO UTC A1;
Days of week when the leap second event occurs, in days.
utcDN UINT
GLO system: the parameter corresponds to GLO UTC DN;
UTC week number when the leap second event occurs, in
utcWNLSF UINT weeks
GLO system: the parameter corresponds to GLO UTC KP;
Constant coefficient A0 of UTC polynomial (scale factor
utcA0 INT 2-30), in s
GLO system: the parameter corresponds to GLO UTC tc;
First-order coefficient A1 of UTC polynomial (scale factor
utcA1 INT 2-50), in s/s
GLO system: the parameter corresponds to GLO UTC tg;

Note
 GPS Week is the time system adopted in the GPS system. Time Zero is defined as:
00:00 on January 6,1980 and every 1024 weeks (7168 days) is a cycle. The first roll-
over happened at 00:00:00 on August 22,1999. That is, from this moment on, the
week number starts again from zero. In GPST, 1 to 7 corresponds to Sunday to
Saturday.

 The BDS time starts at 00:00:00 UTC on 1 January 2006, and uses week and day of
week to count. 0 to 6 corresponds to Sunday to Saturday.

 utcWNLSF: The decimal number converted from the binary lower eight bits of the
week when a leap second occurs.

For example: A leap second occurred in the week 900 (binary: 1110000100), then
the utcWNLSF broadcasts 132 (binary: 10000100).

 Calculating the GPS week when a leap second occurs:

1. Convert the RMC date into GPS week;

2. Convert the GPS week into binary, set the lower eight bits to zero, and then
convert to decimal.

3. Add utcWNLSF to the number got from step 2.

 Calculating the BDS week when a leap second occurs:

1. Convert the RMC date into BDS week;

2. Convert the BDS week into binary, set the lower eight bits to zero, and then
convert to decimal.

UC-04-FB2 EN R1.0 General Protocol 41

Unicore FirebirdII Protocol Specification

3. Add utcWNLSF to the number got from step 2.

 utcDN: Day of week when a leap second occurs. GPS: 1 to 7 corresponding to

Sunday to Saturday; BDS: 0 to 6 corresponding to Sunday to Saturday

 Leap seconds occur at 23:59:59

1.4.4 RAWDATA Message Format

Refer to RTCM 3.2/3.3 messages.

2 Reference
[1] RTCM STANDARD 10403.3, DIFFERENTIAL GNSS(GLOBAL NAVIGATION SATELLITE
SYSTEMS) SERVICES: VERSION 3
[2] NMEA 0183 Standard for Interfacing Marine Electronic Devices, Version 4.11

42 Reference UC-04-FB2 EN R1.0

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