UNICORECOMM Unicore Installation manual

Unicore
Reference Commands Manual for
High Precision GNSS Board and
Module
Command Reference Manual

Command and Log Reference
2
Revision History
Version
Revision History
Date
V1.0
First Release
Mar. 2017
Disclaimer
Information in this document is subject to change without notice and does not
represent a commitment on the part of Unicore Communications, Inc. No part of this
manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the
express written permission of a duly authorized representative of Unicore
Communications, Inc. The information contained within this manual is believed to be
true and correct at the time of publication.
*Unicorecomm, Nebulas II are registered trademarks of Unicore
Communications, Inc. All other brands/product names are trademarks or registered
trademarks of their respective companies.
© Copyright 2009-2017 Unicore Communications, Inc. All rights Reserved.
Foreword
This < Commands and Logs Reference Book > offers you information on commands,
logs, default settings, and examples of Unicore high precision receivers.
For the generic version of this manual, please refer to different part of the manual
according to your purchased product configuration, concerning CORS, RTK and
Heading.
Readers it applies to
This <User Manual> is applied to the technicists who know GNSS Receiver to some
extent but not to the general readers.

Command and Log Reference
3
Content:
1. Frequently Used Commands............................................................................5
1.1. Base Station Configuration .......................................................................6
1.2. Rover Station Configuration .....................................................................7
1.3. Moving Base Configuration.......................................................................7
1.4. Heading Configuration ..............................................................................8
1.5. Inertial Navigation.....................................................................................8
2. Command Types Introduction .........................................................................9
3. MODE Command .............................................................................................9
3.1 Base Station Mode Configuration...........................................................10
3.1.1 Fixed Base Station with BLH Coordinate.................................................10
3.1.2 Fixed Base Station with ECEF Coordinate ...............................................11
3.1.3 Base Station Mode without parameters ................................................11
3.1.4 Self-Optimizing Base Station Mode ........................................................12
3.1.5 Set base station ID ..................................................................................13
3.2 Moving Base Mode Configuration ..........................................................13
3.3 Rover Station Mode Configuration.........................................................14
3.4 Heading Configuration Command ..........................................................14
4. CONFIG Command .........................................................................................15
4.1 Configure Antenna..................................................................................16
4.2 Configure Undulation..............................................................................16
4.3 Configure Serial Port...............................................................................17
4.4 Configure PPS..........................................................................................18
4.5 Configure DGPS Command .....................................................................17
4.6 Configure RTK Command........................................................................17
4.7Configure INS Device...............................................................................17
4.7.1 Configure INS devices to be enabled ......................................................20
4.7.2 Configure INS device installation angel ..................................................21
4.7.3 Configure INS Timeout............................................................................21
4.7.4 Configure INS Alignment Velocity threshold ..........................................22
5. MASK Command ............................................................................................22
5.1 MASK Set Satellite System ......................................................................22
5.2 UNMASK Set Satellite System .................................................................23
6. LOG COMMAND.............................................................................................23
6.1 NMEA 0183 ASCII log output ..................................................................23
6.1.1 GNGGA GNSS Multi-System Positioning Output ....................................28
6.1.2 GPGGA GNSS Fix Data output by GPGGA ...............................................29
6.1.3 GPSGGA GPS Fix Data Output.................................................................30
6.1.4 BDSGGA BDS Fix Data Output.................................................................32
6.1.5 GLOGGA GLONASS Fix Data Output .......................................................33
6.1.6 GALGGA Galileo Fix Data Output ............................................................35
6.1.7 GPGSA GPS DOP and Active Satellites ....................................................36
6.1.8 GPGST Pseudorange measurement noise statistics ...............................37

Command and Log Reference
4
6.1.9 GPGSV GNSS Satellites in View ...............................................................38
6.1.10 GPHDT Heading Log .........................................................................39
6.1.11 GPRMC GNSS Recommended Information......................................40
6.1.12 GNRMC GNSS Recommended Information .....................................41
6.2 Binary Information..................................................................................42
6.2.1 OBSVM Oberservation ............................................................................44
6.2.2 OBSVH Oberservation.............................................................................50
6.2.3 ION Ionosphere Parameters ...................................................................54
6.2.4 UTC Coordinated Universal Time............................................................55
6.2.5 GLOEPHEM GLONASS Ephemeris ...........................................................56
6.2.6 GPSEPHEM GPS Ephemeris..................................................................60
6.2.7 BDSEPHEM BDS Ephemeris.....................................................................62
6.2.8 GALEPHEM GALILEO Ephemeris ..........................................................63
7. TIMING Command .........................................................................................66
7.1 Real-time Positioning Timing ..................................................................66
7.2 Timing with fixed coordinate ..................................................................66
7.3 Self-optimized Timing .............................................................................67
8. MISC COMMAND ...........................................................................................67
8.1 Unlog Stop outputting specific log..........................................................67
8.2 Freset Clear selected data from NVM and Reset receiver .....................68
8.3 Reset Reset configuration.......................................................................68
8.4 ANTENNA Detect.....................................................................................69
8.5 Saveconfig Save current configuration into NVM ..................................70
9. RTCM V2 Standard Logs.................................................................................70
9.1 RTCM V3 Standard Logs..........................................................................70

Command and Log Reference
5
1. Frequently Used Commands
Unicore high precision receivers support abbreviated ASCII format. Without CRC
bits, abbreviated ASCII is easy to use for users’ input.
All commands compose with command header and configuration parameters.
Header field contains the command name or the message header.
Frequently used commands are listed in Table 1-1 :
Table 1-1: Unicore Commands Sorted by Function
Command Name
Description
freset
Restore the factory default settings
version
Query version information for all components
config
Query status of the serial port
mask GPS
Disable GPS system satellites, BDS/GPS/GLO/GAL system
are all supported to disable
Mask –GPS (or unmask BDS)
Enable GPS system satellites, BDS/GPS/GLO/GAL system
are all supported to enable
config com1 115200
Configure com1 port operating at 115200 baud rate.
The usable COM port are COM1、COM2、COM3.
The baud rate could be 9600, 19200, 38400, 57600,
115200, 230400,460800bps.
unlog
Disable all outputs of the port in use.
saveconfig
Save the settings
Base/Rover Station Settings
mode base time 60 1.5 2.5
Base station receiver positioning results within 60 seconds,
or accuracy satisfies horizontal less than 1.5m and
elevation less than 2.5m, average the results and fix them
as the base station coordinate.
Base coordinates are automatically set in this mode.
Power off and restart the receiver triggers a new
calculation and reposition
bestpos
Get the best positon computed by the receiver: latitude,
longitude, height
mode base lat lon height
Set the known base station coordinate:
latitude、longitude、ellipsoid height.
Base coordinates are fixed, even if power off and restart
the receiver.
Note:
the Southern Hemisphere is corresponding a negative
latitude value;
the Western Hemisphere is corresponding a negative
longitude value.
mode base
Set the default base station mode

Command and Log Reference
6
mode movingbase
Set the moving base station mode
mode rover
Set the default rover station mode (disable base station
mode)
rtcm1033 comx 10
rtcm1006 comx 10
rtcm1074 comx 1
rtcm1124 comx 1
rtcm1084 comx 1
rtcm1094 comx 1
Set base station to transfer RTCM messages to rover
receivers via the serial port comx.
The serial port can be assigned as com1、com2、com3.
NMEA0183 Messages Associated
gpgga comx 1
Set the GGA message output at rates 1Hz.
Message type and logging period support user selection.
The valid logging period are:1, 0.5, 0.2, 0.1, corresponding
to 1Hz、2Hz、5Hz、10Hz.
The optional message types are: GGA、GSV、GSA、
RMC、GST、VTG、ZDA、NTR.
gphdt comx 1
Set the HDT message output at rates 1Hz.
Vessel heading message types include HDT and TRA.
1.1. Base Station Configuration
For RTK reference station (fixed base station), the antenna is placed at a fixed
place, and won’t move.
The precise coordinates of the known point and the satellite information received
are sent to the rover station receiver (the undetermined point), the rover station
receiver also receives the base station information and the satellite observations, then,
performs RTK solution to achieve the centimeter level or millimeter level accuracy
positioning. Frequently commands used to configure the RTK base station are as
follows.
When the precise coordinate is known, input the following commands to the
receiver:
Table 1-2: Fixed Base Station Configuration
Number
Command
Description
1
mode base lat lon hgt
Set the known base station coordinate:
latitude、longitude、ellipsoid height
2
rtcm1006 com2 10
Base station antenna coordinate (antenna height
included)
3
rtcm1033 com2 10
Receiver and antenna description
4
rtcm1074 com2 1
GPS system correction data
5
rtcm1124 com2 1
BDS system correction data
6
rtcm1084 com2 1
Glonass system correction data
7
rtcm1094 com2 1
Galileo system correction data

Command and Log Reference
7
8
saveconfig
Save configuration
If base station coordinate is unknown, we provide you obtain the average values
from a period time of positioning results in specific conditions. The following
instructions required to enter and save at the base station:
Table 1-3: Self-Optimizing Base Station Configuration
Number
Command
Description
1
mode base time 60 1.5 2.5
Base station receiver positioning results within 60
seconds, or accuracy satisfies horizontal less than
1.5m and elevation less than 2.5m, average the
results and fix them as the base station coordinate
2
rtcm1006 com2 10
Base station antenna coordinate (antenna height
included)
3
rtcm1033 com2 10
Receiver and antenna description
4
rtcm1074 com2 1
GPS system correction data
5
rtcm1124 com2 1
BDS system correction data
6
rtcm1084 com2 1
Glonass system correction data
7
rtcm1094 com2 1
Galileo system correction data
8
saveconfig
Save configuration
1.2. Rover Station Configuration
The RTK Rover Station receives the real-time differential correction data sent by
the base station. Rover receiver can adaptively recognize the RTCM data format;
simultaneously receive the satellite signal to perform RTK solution, to realize the RTK
high precision positioning. Frequently used commands for RTK rover station is:
MODE ROVER
GPGGA 1
SAVECONFIG
1.3. Moving Base Configuration
Moving base station is different from fixed base station. Fixed base station is a
fixed point with known precise cooridinates, while the moving base station is at
moving status, the received satellite information is sent to the rover station receiver
(the undetermined point) in RTCM protocol. While receiving the satellite observations,
the rover station receiver also receives the moving base station information,
calculates the relative position of the rover station. Frequently commands used to
configure the moving base station are as follows:
Table 1-4: Moving Base Station Configuration
Number
Command
Description
1
mode movingbase
Set base station in movingbase mode

Command and Log Reference
8
2
rtcm1006 com2 1
Base station antenna coordinate
(antenna height included)
3
rtcm1033 com2 1
Receiver and antenna description
4
rtcm1074 com2 1
GPS system correction data
5
rtcm1124 com2 1
BDS system correction data
6
rtcm1084 com2 1
Glonass system correction data
7
rtcm1094 com2 1
Galileo system correction data
8
saveconfig
Save configuration
1.4. Heading Configuration
The heading result is the angle from True North to the baseline of the base to
rover in a clockwise direction. Receivers(UB482&UM482) supports heading output by
default. Frequently used commands are as follows:
MODE HEADING
GPHDT COM1 1
SAVECONFIG
1.5. Inertial Navigation
High-precision boards have built-in inertial navigation devices.Please refer to
Figure 1-1: Vehicle Coordinates （ XYZ ） to set the installation angle.
The boards’ inertial coordinate system, X, Y, Z axis are mutually perpendicular,
follow the right-hand rule.
The vehicle coordinate system is defined as follows: the Y axis along the vehicle’s
travel forward direction, the X axis perpendiculars to the Y axis and points to the right.
Ensure boards’ inertial coordinate system match with the vehicle’s coordinate
system.
Figure 1-1: Vehicle Coordinates（XYZ）

Command and Log Reference
9
2. Unicore Command Types Introduction
The Unicore commands for High precision GNSS board and modules can be
catageoriezed into the following types. Unicore UB4B0，UB482 boards and UM4B0,
UM482, UM440 modules comply with the command reference.
Table 2-1: Command Types
NO.
Type
Description
1
Mode
Set working mode like base/rover
2
Configure
Configure recevier’s function/interfaces
3
Mask
Mask/unmask constellation or eleviation
4
Log
Output the position/heading/velocity etc.
5
Timing
Dedicated for the timing application
6
Misc
Reset/Freset/Saveconfig
3. MODE Command
MODE command is used to set the working mode of the receiver. The receiver’s
working modes include base station mode, rover station mode, moving base mode,
heading mode, TDIF mode, ARTK mode, high precision timing mode, and precision
point position (PPP) working mode.
The above working modes are mutually exclusive. That is, the receiver can only
work under one mode of the above working modes. Re-enter a new command to the
receiver, the receiver will be reset according to the latest input mode (mode).
Rover station working mode receivers can automatically identify the RTCM data
format protocol, and users need not specify the RTCM difference input data type.
Command Format:
MODE [mode][parameters]
Abbreviated ASCII Syntax:
MODE BASE 40.45628476579 116.2859754968 58.0984
MODE ROVER
MODE MOVINGBASE
MODE HEADING
MODE HEADING
Table 3-1: Receiver Work Modes List
Number
Mode
Mode Description
1
BASE
Set the fixed base station mode
2
ROVER
Set the rover station mode
3
MOVINGBASE
Set the moving base station mode

Command and Log Reference
10
4
HEADING
Set the Heading mode
5
TIMING
Set the Timing mode
6
TDIF
Set the TDIF mode
7
ARTK
Set the ARTK mode
8
PPP
Set the PPP mode
3.1 Base Station Mode Configuration
The fixed base station antenna will be installed in a fixed position, without moving
during use. The precise coordinates of the known station and the satellite
observations will be sent to the rover station receiver (undetermined point),
supporting the rover station receiver to perform the RTK solution and to achieve
centimeter or millimeter level positioning accuracy. The base station configuration
involves the input of its coordinates and RTCM data. Details of base station
configuration are described below.
Command Format:
MODE BASE {auto(default pos time parameter)|B,L,H,und,[id]}
Input Example:
MODE BASE
MODE BASE [ID]
Set fixed coordinate Base Station:
MODE BASE 40.45628476579 116.2859754968 58.0984
MODE BASE 2 40.45628476579 116.2859754968 58.0984
Optimized base station:
MODE BASE TIME 60 1 1
Set base station, and automatically optimize the base station configuration:
MODE BASE 2 TIME 60 2.5 3.5
3.1.1 Fixed Base Station with BLH Coordinate
Set fixed BLH coordinate of the base station antenna to make the receiver work
in the base station mode. After setting the fixed coordinates, the position information
(GPGGA) output by the receiver will always display the fixed coordinate, including the
base station position information in the RTCM correction data.
“[ID]” in the command is the base station ID. The value for ID is a positive integer
between 0 and 1023.
Command Format:
MODE BASE [ID] [B L H]
Input Example:
MODE BASE 40.45628476579 116.2859754968 58.0984

Command and Log Reference
11
MODE BASE 1 40.45628476579 116.2859754968 58.0984
Table 3-2: Base Station Mode with Fixed Coordinates
3.1.2 Fixed Base Station with ECEF Coordinate
Set fixed ECEF coordinate of the base station antenna to make the receiver work
in the base station mode. After setting the fixed coordinates, the position information
(GPGGA) output by the receiver will always display the fixed coordinate, including the
base station position information in the RTCM correction data.
“[ID]” in the command is the base station ID. The value for ID is a positive integer
between 0 and 1023.
Command Format:
MODE BASE [ID] [X Y Z]
Input Example:
MODE BASE -2160489.0276 4383620.1006 4084738.1110
MODE BASE 1 -2160489.0276 4383620.1006 4084738.1110
Table 3-3: Base Station Mode with Fixed Coordinates
3.1.3 Base Station Mode without parameters
The base station mode without parameters: MODE BASE, when the BASE
command is not followed by any parameters, the receiver will start the default base
station configuration. The default configuration of the base station is: output MSM4
messages in RTCM3.2 from the receiver’s COM2 port, and average coordinates of the
Comma
nd
Mode
Field
Paramet
er
Parameters Description
MODE
BASE
1
Latitude
Latitude coordinate in degree
(±90)
2
Longitude
Longitude coordinate in degree
(±180)
3
Height
Height in meter(±30000)
Comma
nd
Mode
Field
Paramet
er
Parameters Description
MODE
BASE
1
X
The X-axis coordinate in the ECEF
coordinate system, in meters
2
Y
The Y-axis coordinate in the ECEF
coordinate system, in meters
3
Z
The Z-axis coordinate in the ECEF
coordinate system, in meters

Command and Log Reference
12
60 seconds positioning results are set as the base station coordinates. When time is
up to 60 seconds, or the optimized coordinates accuracy of the horizontal and vertical
reach 0.5m, the receiver will stop the self-optimizing calculation and the final
optimized coordinates are set as the base station coordinates.
Command Format:
MODE BASE [ID]
Input Example:
MODE BASE
Table 3-4: Base Station Mode with Default Parameters
Command
Mode
Field
Parameter
Parameters Description
MODE
BASE
1
-
Option for default base station
mode
MODE
BASE
1
ID
Optional field for base station ID.
Positive integer between 0 and
1023.
3.1.4 Self-Optimizing Base Station Mode
Set the receiver to optimize the positioning results, when optimize to the
specified time or precision, the receiver will automatically fix the final coordinates as
the base station coordinates. The position optimization will last a set length of time,
or until the optimized position errors are less than the thresholds. That is, when the
optimization time is up, or the optimized coordinates accuracy of the horizontal and
vertical reach the set values, the receiver will stop the self-optimizing calculation and
the final optimized coordinates are set as the base station coordinates.
When the base station receiver has first been started in the self-optimaizing mode,
then user re-enters the fixed coordinates, the receiver will reset to the fixed base
station mode, that is, the receiver switch to the working mode of user input coordinate
mode:
Command Format:
MODE BASE [ID] TIME [T STD1 STD2]
Input Example:
MODE BASE TIME 60 1 1
MODE BASE 1 TIME 60 2.5 3.5
Table 3-5: Base Station Mode with Self-Optimizing Coordinates
Command
Mode
Field
Parameter
Parameters Description
MODE
BASE
TIME
1
time
Maximum time for average
position, in units of seconds

Command and Log Reference
13
3.1.5 Set base station ID
Set base station ID, 0≤ID<1024 positive integers.
Command Format:
MODE BASE [ID]
Input Example:
MODE BASE 1
Table 3-6: Base Station ID Parameter
Command
Mode
Field
Parameter
Parameters Description
MODE
BASE
1
ID
Optional field for base station ID.
Positive integer between 0 and
1024.
3.2 Moving Base Mode Configuration
The command is used to set on/off moving base working mode for receivers.
Moving base station is different from fixed base station. Fixed base station is a
fixed point with known precise cooridinates, while the moving base station is at
moving status, the received satellite information is sent to the rover station receiver
(the undetermined point) in RTCM protocol. While receiving the satellite observations,
the rover station receiver also receives the moving base station information,
calculates the relative position of the rover station. At this point the coordinates of
the rover station are relative to the position of the moving base. Under the moving
base mode, moving base receiver will send RTCM data and its position to Heading
receiver.
Command Format:
MODE MOVINGBASE [parameter]
2
param1
Horizontal error tolerance of
average position
(default = 0.5m)
3
param2
Vertical error tolerance of average
position
(default = 0.5m)

Command and Log Reference
14
Abbreviated ASCII Syntax:
MODE MOVINGBASE
MODE MOVINGBASE DISABLE
Table 3-7: Moving Base Station Work Mode Parameters
Command
Mode
Parameter
Parameters Description
MODE
MOVINGBASE
——
Enable moving base station mode
DISABLE
Disable moving base station mode
3.3 Rover Station Mode Configuration
Rover Station receives the real-time differential correction data sent by the base
station. Rover receiver can adaptively recognize the RTCM data format;
simultaneously receive the satellite signal to perform RTK solution, to realize the RTK
high precision positioning. There are three kinds of RTK mode: static mode, dynamic
mode and automatic mode.
By default, the receiver's RTK solution is under dynamic mode. The receiver will
automatically start RTK positioning when RTCM differential correction data are
received by any serial port.
Command Format:
MODE ROVER [parameter]
Input Example:
MODE ROVER
MODE ROVER STATIC
Table 3-8: Rover Station Work Mode Parameters
Command
Mode
Parameter
Parameters Description
MODE
ROVER
—
RTK dynamic mode(default)
STATIC
RTK static mode
3.4 Heading Configuration Command
This command is used to set the heading mode for the receiver. The heading
result is the angle from True North to the baseline of the base to rover in a clockwise
direction. For dual-antenna receivers, it is not necessary to send this command. In
heading mode configure the antennas motion status of the moving base and the
heading can improve the heading precision. The command of “MODE HEADING”will
enable the receiver in fixed baseline heading.
Command Format:
MODE HEADING [parameters]

Command and Log Reference
15
Abbreviated ASCII Syntax:
MODE HEADING //Enable fixed baseline heading
MODE HEADING FIXLENGTH //Enable fixed baseline heading
MODE HEADING STATIC //Enalbe static baseline heading
Table 3-9: Heading Mode Parameters
Command
Mode
Parameter
Parameters Description
MODE
HEADING
-
Between two antennas (static or
dynamic) of moving base station and
heading receiver, the relative positions
or distance keeps relative stationary
FIXLENGTH
Between two antennas (static or
dynamic) of moving base station and
heading receiver, the relative positions
or distance keeps relative stationary
STATIC
Both two antennas of moving base
station and heading receiver are in
static status
VARIABLENGTH
Between two antennas of moving base
station and heading receiver, the
relative positions or distance dynamic
changes
4. CONFIG Command
CONFIG command is the command protocol header using in configuring receiver’s
serial ports, antenna power, Inertial devices, PPS, geoid undulation, DGPS engine, and
RTK engine.
Command Format：
CONFIG [device name][dev device parameter]
The [device name] mainly includes serial port, inertial navigation, receiver
antenna, PPS, elevation abnormality table, DGPs engine, RTK engine. As shown in the
following Table 4-1: Device Name List:
Abbreviated ASCII Syntax：
CONFIG COM1 115200 8 n 1
CONFIG ANTENNA POWERON
CONFIG PPS ENABLE BDS POSITIVE 100000 1000 0 0
CONFIG UNDULATION 9.7
CONFIG RTK TIMEOUT 60
CONFIG DGPS TIMEOUT 100
Table 4-1: Device Name List

Command and Log Reference
16
Num
ber
Device
Name
Device Description
1
COM1
COM1 serial port: port settings related to COM1, such as baud
rate, parity bit.
2
COM2
COM2 serial port: port settings related to COM2, such as baud
rate, parity bit.
3
COM3
COM3 serial port: port settings related to COM3, such as baud
rate, parity bit.
4
INS
INS configuration: enable/disable INS, INS installing angle
5
ANTENNA
Antenna feed switch configuration
6
PPS
PPS configuration: enable/disable PPS output, polarity, period
and pulse width.
7
EVENT
Event configuration: reserved.
8
UNDULATION
Geoid undulation configuration: input a specific undulation
value or use built-in geoid grid.
9
RTK
RTK configuration: RTK solution、maximum age of RTK data.
10
DGPS
DGPS configuration: maximum age of DGPS data.
4.1 Configure Antenna
This command is used to configure the power switch of antenna. The receiver is
connected to an active antenna, that is, the receiver will feed the antenna through the
RF cable. The receiver will feed the antenna through the RF cable by default.
Command Format:
CONFIG ANTENNA [parameter]
Abbreviated ASCII Syntax:
CONFIG ANTENNA POWERON
CONFIG ANTENNA POWEROFF
Table 4-2：Antenna Configuration
Command
Device
Field
ASCII Value
Parameters Description
CONFIG
ANTEN
NA
SWITCH
POWERON
Switch on the antenna feed
POWEROFF
Switch off the antenna feed
4.2 Configure Undulation
This command permits you to either enter a specific geoid undulation or use the
built-in grid value of geoid undulations.
Command Format:
CONFIG UNDULATION [Parameter]

Command and Log Reference
17
Abbreviated ASCII Syntax:
CONFIG UNDULATION 9.7
Table 4-3: Undulation Configuration
Command
Device
Parameter
ASCII
Value
Parameters Description
CONFIG
UNDULATIO
N
OPTION
auto
Use built-in geoid undulation
grid table
separation
Use user-specified undulation
value, ranged from -1000m to
+1000m
4.3 Configure RTK Command
This command is used to resets the RTK engine and to clear the RTK parameters.
Command Format:
CONFIG RTK [parameter]
Abbreviated ASCII Syntax:
CONFIG RTK 60
Table 4-4: RTK Solution Configuration
Comma
nd
Device
Field
Parameter
Parameters Description
CONFIG
RTK
1
TIMEOUT
0
Disable RTK solution
1-1000
Option for maximum age of RTK
data (default = 300), seconds
1
RESET
Reset the RTK solution
1
USER_DEFA
ULTS
Set the RTK to default settings
1
DISABLE
Do not perform RTK solution
1
FLOAT
Only perform RTK float solution
4.4 Configure DGPS Command
This command is used to set the receiver’s maximum age of DGPS differential data
accepted from the base station. DGPS differential data received later than specified
age is ignored, which can also be used to prohibit DGPS positioning calculations.
Command Format：
CONFIG DGPS [Parameter]

Command and Log Reference
18
Abbreviated ASCII Syntax:
CONFIG DGPS 100
Table 4-5: DGPS Maximum Age Configuration
Command
Device
Parameter
ASCII
Value
Parameters Description
CONFIG
DGPS
DELAY
0
Disable the DGPS positioning
1-1000
Option for maximum age of
differential corrections data
(default = 300), in units of seconds
4.5 Configure PPS
This command sets the PPS pulse signal with a specific period and pulse width,
and can compensate for the delay of the PPS.
Abbreviated ASCII Syntax:
CONFIG PPS ENABLE GPS POSITIVE 500000 1000 0 0
Table 4-6: PPS Configuration
ID
Field
ASCII Value
Parameters Description
1
PPS
-
2
Switch
DISABLE(default)
Disable PPS output (once disable
is set, all other parameters are ignored)
ENABLE
Enable PPS output
3
Timeref
GPST or BDST
Option for reference time system, now
support the GPS and BDS only
4
Polarity
POSITIVE
Option to generates a normally low,
active high PPS pulse with the rising
edge as the reference
NEGATIVE
Option to generates a normally high,
active low pulse with the falling edge as
the reference
5
Pulse Width
Any value between 0 and
the period
Option to specify the pulse width of the
PPS signal, microseconds
6
Period
valid values：
50,100,200,250,50,1000,2
000,3000…,20000
The period of the pulse, milliseconds
7
Rf Delay
Inter between -32768 and
32767
Set RF delay, nanoseconds
8
User Delay
Inter between -32768
and 32767
Set user delay, nanoseconds

Command and Log Reference
19
4.6 Configure Serial Port
This command is to configure the data communication parameters for the
physical serial port: setting the baud rate, data bits, parity, stop bit properties of the
serial port.
High-precision GNSS receivers maximumly support 3 serial ports, COM1, COM2,
COM3 respectively. The three serial ports have the same functions, but work
independently according to their respective configurations. The three ports can be
configured mutually, e.g. COM2/COM3 serial port properties can be configured
through COM1, and COM1 can also be configured through COM2/COM3.
The command format for configuring the serial port is:
CONFIG [serial number] [serial port property parameter]
Command Format：
CONFIG COMX [parameter]
Abbreviated ASCII Syntax：
CONFIG COM1 115200
CONFIG COM1 115200 8 n 1
Table 4-7: Serial Port Parameters List
Command
Device
Fiel
d
parameters
Supported
Parameters Description
CONIFG
COM1
COM2
COM3
1
baud
rate/bps
Option for COM port communication
baud rate.
The supported baud rate see Table
4-8 ： Baud Rate Supported
2
data bits
Option for COM port data bits. To set
this field, notice that the preceding
baud rate field should existing.
3
parity
Option for COM port parity.
To set this field, notice that the
preceding fields should existing.
4
stop bits
Option for COM port stop bits.
To set this field, notice that the
preceding fields should existing.
Table 4-8：Baud Rate Supported
Serial port
Description
COM1
9600, 19200, 38400, 57600, 115200, 230400, 460800
COM2
9600, 19200, 38400, 57600, 115200, 230400, 460800
COM3
9600, 19200, 38400, 57600, 115200, 230400, 460800

Command and Log Reference
20
4.7 Configure INS Device
The receiver integrates onboard MEMS chips (except UB380 and UB280/UB282),
which greatly optimized continuity and reliability•of•heading/positioning
output•in•such complex environments•as•buildings, tunnels•and overpasses.
With onboard MEMS devices, Unicore High-precision receivers support GNSS and
INS combined navigation to provide continuous, high quality and high output
positioning results under complicated environment. This command is used to
enable/disable the inertial navigation devices, to configure the inertial divece’s
installation angle. The inertial navigation devices are disabled by default. To use the
INS function, please send INS enable command to the device. After started, the INS
devices can not be successfully initialized unless the vehicle speed meets the minimum
speed (5m/s by default) required. When the inertial navigation device is initialized
successfully, the receiver will enter the GNSS and INS integrated navigation
positioning mode.
Command Format：
CONFIG INS [parameter]
Abbreviated ASCII Syntax：
CONFIG INS ENABLE
CONFIG INS ANGLE 0, 9000, 18000
CONFIG INS TIMEOUT 60
CONFIG INS ALIGNMENTVEL 5.0
4.7.1 Configure INS devices to be enabled
The receiver integrates onboard MEMS chips (except UB380 and UB280/UB282).
However, the INS device is disabled by default, the receiver is working under GNSS
only mode. When the receiver is sent an INS enable command, and at the same time
the receiver response correctly, the INS device of the receiver begins to work. During
this period of time, the velocity of the vehicle should reach the initialization speed
threshold, and the receiver works under the GNSS+INS mode. After enabling the
inertial navigation device, the receiver is required to be stablely fixed on the vehicle.
Command Format:
CONFIG INS [enable/disable]
Abbreviated ASCII Syntax：
CONFIG INS ENABLE
Table 4-9: INS Configuration
Command
Device
Parameter
Parameters Description
CONFIG
INS
Enable
Enable INS