Manual GNSS GPS MSJ.pdf

Specification Document No.DC4M0068
MAGELLAN SYSTEMS JAPAN, INC.
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MJ-2014-GM4
Multi-Frequency Multi-GNSS Receiver
Communication Specification
(Rev. 2.3)
April 15th
, 2022
Magellan Systems Japan, Inc.

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Notice
All information contained in this document represents information on the product at the time of publication
and is subject to change by Magellan Systems Japan, Inc. without any notice. Please review the latest
information published by Magellan Systems Japan, Inc.

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Table of Contents
1. Overview............................................................................................................................................6
2. Input/Output specification ................................................................................................................6
2.1. Serial interface specification..........................................................................................................6
2.2. External USB port specification.....................................................................................................7
3. Output message specification..........................................................................................................8
3.1. NMEA0183 message .................................................................................................................. 11
3.1.1. GGA : Global Positioning System Fix Data............................................................................... 11
3.1.2. GLL : Geographic Position, Latitude and Longitude..................................................................12
3.1.3. GSA : GNSS DOP and Active Satellites ...................................................................................12
3.1.4. GSV : Satellites in View............................................................................................................13
3.1.5. RMC : Recommended Minimum Specific GNSS Data..............................................................14
3.1.6. VTG : Course Over Ground and Ground Speed .......................................................................14
3.1.7. ZDA : Time and Date................................................................................................................15
3.1.8. RME : Radius of circle/sphere which includes true position ......................................................16
3.1.9. CLS : CLAS information ...........................................................................................................17
3.1.10. REF : Reference Position Information ....................................................................................18
3.1.11. SA3 : Satellite Status Message 3............................................................................................19
3.1.12. SA5 : Satellite Status Message 5 ...........................................................................................21
3.1.13. SA6 : Satellite Status Message 6 ...........................................................................................23
3.1.14. HDT : Heading, True ..............................................................................................................26
3.1.15. THS : True Heading and Status..............................................................................................27
3.1.16. HED : Heading and Status Information...................................................................................28
3.2. RTCM message..........................................................................................................................29
3.2.1. Standard message...................................................................................................................29
3.2.2. Proprietary definition message.................................................................................................29
3.2.2.1. Type 4002 : Extended L1-Only GPS RTK Observables + Doppler.........................................30
3.2.2.2. Type 4010 : Extended L1-Only GLONASS RTK Observables + Doppler ...............................31
3.2.2.3. Type 4050 : LEX Raw Data ...................................................................................................32
3.3. Command response message.....................................................................................................33
3.4. Receiver Startup message..........................................................................................................33
4. Input command specification .........................................................................................................34
4.1. Message output ..........................................................................................................................36
4.1.1. NMEA0183 output....................................................................................................................36
4.1.2. RTCM output............................................................................................................................38
4.1.3. LEX Raw Data output...............................................................................................................39
4.1.4. Stop all messages output.........................................................................................................40

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4.1.5. Message output settings display ..............................................................................................41
4.2. Reset GNSS receiver..................................................................................................................42
4.2.1. Reset receiver..........................................................................................................................42
4.2.2. Clear receiver settings .............................................................................................................42
4.3. Reference Station (Base Station) settings ...................................................................................43
4.3.1. Reference Position (Current position).......................................................................................43
4.3.2. Reference Position (Geodetic) .................................................................................................44
4.3.3. Reference Position (Cartesian) ................................................................................................45
4.3.4. Reference Position (Moving base)............................................................................................46
4.3.5. Reference Station ID................................................................................................................47
4.3.6. Reference Station settings display ...........................................................................................48
4.3.7. MSM signal masks for base receiver........................................................................................50
4.3.8. MSM signal masks for rover receiver .......................................................................................51
4.3.9. MSM signal masks settings display..........................................................................................52
4.4. Precise Point Positioning (PPP) ..................................................................................................53
4.4.1. MADOCA-PPP mode control....................................................................................................53
4.4.2. CLAS mode control..................................................................................................................54
4.4.3. PPP(MADOCA/CLAS) mode deactivation................................................................................55
4.4.4. PPP(MADOCA/CLAS) mode display........................................................................................56
4.5. Receiver positioning parameters.................................................................................................57
4.5.1. Elevation mask.........................................................................................................................57
4.5.2. Dynamic mode.........................................................................................................................58
4.5.3. PDOP mask.............................................................................................................................59
4.5.4. Local Time Zone ......................................................................................................................59
4.5.5. Geoid model ............................................................................................................................60
4.5.6. Geoid model display.................................................................................................................61
4.5.7. COG empty mode ....................................................................................................................62
4.6. Receiver communication parameters ..........................................................................................63
4.6.1. Baud rate .................................................................................................................................63
4.6.2. Serial communication parameter..............................................................................................64
4.6.3. Serial Communication parameters display................................................................................65
4.7. Firmware.....................................................................................................................................66
4.7.1. Firmware version .....................................................................................................................66
4.7.2. Options ....................................................................................................................................67
4.8. Multi-antenna Heading Solution ..................................................................................................68
4.8.1. Enable the heading mode ........................................................................................................68
4.8.2. Disable the heading mode........................................................................................................69
4.8.3. Request for the heading calibration parameters .......................................................................70

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4.8.4. Reset the heading calibration parameters ................................................................................71
Appendix A. GNSS system PRN assignment.....................................................................................72

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1. Overview
This document describes the communication interface specification for Multi-frequency Multi-GNSS
receiver model MJ-2014-GM4 and for the evaluation kit MJ-2014-GM4-QZS-EVK.
2. Input/Output specification
The table2-1 shows input/output ports, and each input/output port has the assigned port number and
channel symbol name. These port numbers and channel symbol names are used for designating port
assignment (channel assignment) when commands are input.
Table 2-1 List of Input/Output port
Input/Output port Port number Channel symbol name
Serial interface 1 *1
UA-1
2 *2
UA-2
3
(optional port)
UA-3
External USB port 4 USBS
*1 This port is assigned as Port-A in the evaluation kit.
*2 This port is assigned as Port-B in the evaluation kit.
2.1. Serial interface specification
Table 2-2 shows initial setting for communication parameter of serial ports (UA-1 and UA-2).
The baud rate parameter can be changed by the command.
Table 2-2 Initial setting for serial ports
Item Initial setting
Baud rate 115200 bps
Data bits 8 bits
Parity bit None
Stop bit 1 bit
Flow control None

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2.2. External USB port specification
When external USB port is used, the channel symbol name “USBS” is specified. This external USB port is
mainly used for the firmware update via PC or used for the data collection for analyses by MSJ

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3. Output message specification
GNSS receiver outputs NMEA0183 standard message, RTCM standard message, MSJ proprietary defined
message, command response message and receiver startup message.
Table 3-A List of NMEA0183 messages
Item No.
NMEA0183
Sentence
Message Name
3.1.1 GGA Global Positioning System Fix Data
3.1.2 GLL Geographic Position, Latitude and Longitude
3.1.3 GSA GNSS DOP and Active Satellites
3.1.4 GSV Satellite in View
3.1.5 RMC Recommended Minimum Specific GNSS Data
3.1.6 VTG Course Over Ground and Ground Speed
3.1.7 ZDA Time and Date
3.1.8 RME*1
Radius of circle/sphere which include true position
3.1.9 CLS*1
CLAS Information
3.1.10 REF*1
Reference Position Information
3.1.11 SA3*1
Satellite Status Message 3
3.1.12 SA5*1
3.1.13 SA6*1
3.1.14 HDT Heading, True
3.1.15 THS True Heading and Status
3.1.16 HED*1
Heading and Status Information
*1 MSJ proprietary defined message

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Table 3-B List of RTCM message
RTCM
Message
Type
Message Name
1002 Extended L1-Only GPS RTK Observables
1004 Extended L1 & L2 GPS RTK Observables
1005 Stationary RTK Reference Station ARP
1006 Stationary RTK Reference Station ARP with Antenna Height
1008 Antenna Descriptor & Serial Number
1010 Extended L1-Only GLONASS RTK Observables
1012 Extended L1 & L2 GLONASS RTK Observables
1019 GPS Ephemerides
1020 GLONASS Ephemerides
1033 Receiver and Antenna Descriptors
1042 BDS Satellite Ephemeris Data
1044 QZSS Ephemerides
1045 Galileo F/NAV Satellite Ephemeris Data
1046 Galileo I/NAV Satellite Ephemeris Data
1073 Compact GPS Pseudoranges and PhaseRanges (GPS MSM3)
1074 Full GPS Pseudoranges and PhaseRanges plus CNR (GPS MSM4)
1075 Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (GPS MSM5)
1077 Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
(GPS MSM7)
1083 Compact GLONASS Pseudoranges and PhaseRanges (GLONASS MSM3)
1084 Full GLONASS Pseudoranges and PhaseRanges plus CNR (GLONASS MSM4)
1085 Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(GLONASS MSM5)
1087 Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(High resolution) (GLONASS MSM7)
1093 Compact Galileo Pseudoranges and PhaseRanges (Galileo MSM3)
1094 Full Galileo Pseudoranges and PhaseRanges plus CNR (Galileo MSM4)
1095 Full Galileo Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(Galileo MSM5)
1097 Full Galileo Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(High resolution) (Galileo MSM7)
1113 Compact QZSS Pseudoranges and PhaseRanges (QZSS MSM3)
1114 Full QZSS Pseudoranges and PhaseRanges plus CNR (QZSS MSM4)

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1115 Full QZSS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (QZSS MSM5)
1117 Full QZSS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(High resolution) (QZSS MSM7)
1123 Compact BeiDou Pseudoranges and PhaseRanges (BeiDou MSM3)
1124 Full BeiDou Pseudoranges and PhaseRanges plus CNR (BeiDou MSM4)
1125 Full BeiDou Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(BeiDou MSM5)
1127 Full Beidou Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
(High resolution) (BeiDou MSM7)
4002*1
Extended L1-Only GPS RTK Observables + Doppler
4010*1
Extended L1-Only GLONASS RTK Observables + Doppler
4050*1
QZSS LEX signal raw data
*1 MSJ proprietary defined message

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3.1. NMEA0183 message
3.1.1. GGA : Global Positioning System Fix Data
Example: $GPGGA,025349.00,3442.9216606,N,13523.9756979,E,4,12,1.1,31.8602,M,37.22,M,2,0137*6F
Table 3-1-1 GGA message description
Data Description
025349.00 UTC time of position 02:53:49.00
3442.9216606 Latitude 34 deg 42.9216606 min (ddmm.mmmmmmm)
N Latitude direction (N : North, South : S）
13523.9756979 Longitude 135 deg 23.9756979 min (dddmm.mmmmmmm)
E Longitude direction (E : East, West : W）
4 GNSS quality indicator
0 = Fix not available, 1 = Autonomous, 2 = DGNSS,
4 = RTK fixed or PPP-RTK fixed,
5 = RTK float or PPP float
12 Number of satellites in use
1.1 HDOP
31.8602 Antenna altitude above/below mean sea level (m)
M Unit (M : meters)
37.22 The difference between the WGS-84 earth ellipsoid surface and mean
sea level (geoid) surface（m）
M Unit (M : meters)
2 Age of DGNSS data (second) *1
0137 Differential reference station ID *2
*6F Checksum
<CR><LF> Sentence terminator
*1 This field would be omitted (NULL) when the receiver has not used any differential information.
*2 This field would be omitted (NULL) when the receiver has not received any differential base station ID.

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3.1.2. GLL : Geographic Position, Latitude and Longitude
Example: $GPGLL,3448.0382474,N,13524.3245234,E,123519.00,A,A*6A
Table 3-1-2 GLL message description
Data Description
N Latitude direction (N : North, South : S）
E Longitude direction (E : East, West : W)
A Status: A=Valid, V=Data not valid
A Mode: A=Autonomous, D=Differential, N=Data not valid
*6A Checksum
3.1.3. GSA : GNSS DOP and Active Satellites
Example: $GPGSA,A,3,07,03,27,06,11,01,19,16,02.2,01.6,01.5*08
$GLGSA,A,3,86,74,84,76,75,85,02.2,01.6,01.5*12
Note: GPGSA = GPS, GLGSA = GLONASS
Table 3-1-3 GSA message description
Data Description
A Positioning mode : A = 2D/3D Automatic, M=2D/3D manual
3 Mode : 1=Fix not available, 2=2D、3=3D
07,03,27,06,11,01,19,16 ID numbers of satellites used in solution
02.2 PDOP
01.6 HDOP
01.5 VDOP
*6A Checksum

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3.1.4. GSV : Satellites in View
Example: $GPGSV,2,1,08,07,47,290,47,03,54,042,50,27,44,047,47,06,35,057,47*7B
$GPGSV,2,2,08,11,57,218,48,01,33,202,43,19,68,354,49,16,36,106,48*72
$GLGSV,2,1,06,86,45,269,51,74,27,164,46,84,90,000,32,76,35,326,48*69
$GLGSV,2,2,06,75,76,221,50,85,57,002,52*6E
Note: GPGSV = GPS, GLGSV = GLONASS
Table 3-1-4 GSV message description
Data Description
2 Total number of sentences
1 Sentence number
08 Total number of satellites in view
07,47,290,47 07=PRN, 47=Elevation(deg), 290=Azimuth(deg), 47=SNR(dB-Hz)
*7B Checksum
GSV message has GPS and GLONASS information only. The SA3, SA5 and SA6 message are
recommended instead if you want to see not only GPS and GLONASS information but also other satellites
systems.

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3.1.5. RMC : Recommended Minimum Specific GNSS Data
Example: $GPRMC,010403.60,A,3442.9829210,N,13523.9582811,E,000.17,300.54,041013,00.00,W,A*24
Table 3-1-5 RMC message description
Data Description
A Status : A=Valid, V=Invalid
N Latitude direction (N : North, S : South)
E Longitude direction (W : West, E : East)
000.17 Speed over ground (Knots) 0.17 knots
300.54 Course over ground (degrees true) 300.54 deg *1
041013 Date (UTC) ddmmyy October 4th
, 2013.
00.00 Magnetic variation (degrees) 0 deg
W Magnetic variation direction (W : West, E : East)
A Mode : A=Autonomous, D=Differential, N=Data not valid
*24 Checksum
*1
When SOG takes around zero speed, COG would be omitted as the default settings. (Refer to 4.5.7)
3.1.6. VTG : Course Over Ground and Ground Speed
Example: $GPVTG,010.0,T,016.5,M,002.5,N,004.8,K,A*4D
Table 3-1-6 VTG message description
Data Description
010.0,T Course over ground, degrees true (deg) 10.0 deg *1
016.5,M Course over ground, degrees magnetic (deg) 16.5 deg *1
002.5,N Speed over ground (Knots) 2.5 knots
004.8,K Speed over ground (km/h) 4.8 km/h
A Mode : A=Autonomous, D=Differential, N=Data not valid
*4D Checksum
*1
When SOG takes around zero speed, COG would be omitted as the default settings. (Refer to 4.5.7)

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3.1.7. ZDA : Time and Date
Example: $GPZDA,172809.00,27,05,2020,-09,00*45
Table 3-1-7 ZDA message description
Data Description
172809.00 UTC time, 17:28:09.00
27 Day, 27
05 Month, 5
2020 Year, 2020
-09 Local zone time (hours)
Note: Settings by LTZ command is needed.
00 Local zone time (minutes)
Note: Settings by LTZ command is needed.
*45 Checksum
When GNSS receiver is reset ($CMD,CLEAR command or Firmware update) or receiver loses a valid time
information, ZDA message may not show correct UTC time or it is not outputted, until GNSS receiver gets a
valid time information with leap seconds.

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3.1.8. RME : Radius of circle/sphere which includes true position
Note: This message is MSJ proprietary definition message
Example: $PGRME,001.567,M,002.536,M,002.981,M*2B
Table 3-1-8 RME message description
Data Description
001.567 Estimated horizontal error
M Unit, meters
002.536 Estimated vertical error
M Unit, meters
002.981 Estimated 3D error
M Unit, meters
*2B Checksum

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3.1.9. CLS : CLAS information
Example: $MSG,CLS,194,08,06,05,04,00,10,11,10,01,U,31,27,D,32,01,U,…,20,01,U,193,01,U,194,01,U,195,07,D*45
Table 3-1-9 CLS message description
Data Description
194 QZS satellite number, currently used as differential correction source
08 Total number of satellites used in differential position computation
06 Compact Network ID (Refer to IS-QZSS-L6-004)
05 GRID 1 number (Refer to IS-QZSS-L6-004)
11 Total number of satellites, available for differential positioning
10 Satellite number (PRN) #1 (Refer to Appendix A in this document)
01 Satellite status code #1 (Non-disclosed information)
U Satellite status #1
U: Used in position computation
S: Not used, below SNR mask
M: Not used, below Elevation mask
D: Not used, absence of corrections
I: Not used, rejected by processing engine
E: Not used, absence of ephemeris
―: Not used in position computation
: ：
Note: Repeats information between "PRN" and "Satellite status", a
specified number of times by "Total number of satellites, available
for differential positioning".
*45 Checksum

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3.1.10. REF : Reference Position Information
Example: $MSG,REF,163010.40,1,512,3442.9249999,N,13523.9741666,E,00070.00,-3737061.314,3685298.405,
3612000.380*02<CR><LF>
Table 3-1-10 REF message description
Data Description
163010.40 UTC time of position fix, hhmmss.ss
1 Reference position mode:
0 = Reference position not available or invalid
1 = Reference position set by command
512 Reference Station ID
3442.9249999 Reference position latitude, ddmm.mmmmmmm
N Latitude direction (N: North, S: South)
13523.9741666 Reference position longitude, dddmm.mmmmmmm
E Longitude direction (E: East, W: West)
00070.00 Reference position geodetic altitude (altitude above ellipsoid) in meters
-3737061.314 Reference position cartesian X coordinate in meters
3685298.405 Reference position cartesian Y coordinate in meters
3612000.380 Reference position cartesian Z coordinate in meters
*02 Checksum

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3.1.11. SA3 : Satellite Status Message 3
Example： $MSG,SA3,23,22,171,01,34,00,00,M,26,114,17,37,21,21,U,07,292,47,50,37,37,U, …………
87,267,65,51,00,40,U*2D
Table 3-1-11 SA3 message description
Data Description
23 Total number of tracked satellites
22 Satellite number (PRN) #1 (Refer to Appendix A in this document)
171 Satellite Azimuth #1 (deg)
01 Satellite Elevation #1 (deg)
34 SNR1 #1 (34 dB-Hz)
GNSS system and Signal type
GNSS system Signal type
GPS L1C/A
GLONASS L1C/A
Galileo E1
QZSS L1C/A
BeiDou B1C
SBAS Not supported
00 SNR2 #1 (0 dB-Hz）
GPS L1P
GLONASS always ‘0’
Galileo always ‘0’
QZSS L6
BeiDou always ‘0’
SBAS Not supported
00 SNR3 #1 (0 dB-Hz)
GPS L2P
GLONASS L2C/A
Galileo E5a
QZSS L2C

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SBAS Not supported
M Satellite status #1
：：
specified number of times by "Total number of tracked satellites".
*2D Checksum

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Example: $MSG,SA5,41,02,166,25,44,34,35,00,00,U,15,276,55,50,51,50,48,00,U,18,315,28,42,34,34,45,00,D,……
219,296,33,46,46,00,46,50,D*44
Data Description
02 Satellite number (PRN) #1（Refer to Appendix A in this document
44 SNR1 #1 (44 dB-Hz)
GPS L1C/A
GLONASS L1C/A
Galileo E1
QZSS L1C/A
SBAS Not supported
34 SNR2 #1 (34 dB-Hz)
GPS L1P
QZSS L6
SBAS Not supported
35 SNR3 #1 (35 dB-Hz)
GPS L2P
GLONASS L2C/A
Galileo E5a
QZSS L2C

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SBAS Not supported
00 SNR4 #1 (0 dB-Hz）
GPS L2C
QZSS L5
BeiDou B1C
SBAS Not supported
00 SNR5 #1 (0 dB-Hz)
GPS L5
QZSS always ‘0’
BeiDou B2a
SBAS Not supported
：：
specified number of times by "Total number of tracked satellites".
*44 Checksum

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Example: $MSG,SA6,43,07,240,40,45,48,48,46,00,00,U,22,152,30,43,34,34,00,00,00,U, ………………
237,167,17,40,41,00,38,46,00,D*67
Data Description
07 Satellite number (PRN) #1（Refer to Appendix A in this document
45 SNR1 #1 (45 dB-Hz)
GPS L1C/A
GLONASS L1C/A
Galileo E1
QZSS L1C/A
SBAS Not supported
48 SNR2 #1 (48 dB-Hz)
GPS L1P
QZSS L6
SBAS Not supported
48 SNR3 #1 (48 dB-Hz)
GPS L2P
GLONASS L2C/A
Galileo E5a
QZSS L2C

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SBAS Not supported
46 SNR4 #1 (46 dB-Hz)
GPS L2C
QZSS L5
BeiDou B1C
SBAS Not supported
00 SNR5 #1 (0 dB-Hz)
GPS L5
QZSS always ‘0’
BeiDou B2a
SBAS Not supported
00 SNR6 #1 (0 dB-Hz)
GPS L1C
GLONASS Frequency number (-7～+6)
QZSS always ‘0’
SBAS Not supported

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：：
specified number of times by "Total number of tracked satellites"
*67 Checksum

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3.1.14. HDT : Heading, True
Note: The multi-antenna heading solution is an optional feature.
Example: $GPHDT,357.623,T*33<CR><LF>
Table 3-1-14 HDT message description
Data Description
357.623 Heading in degrees
T True
*33 Checksum
Note: This sentence has been replaced by THS.

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3.1.15. THS : True Heading and Status
Note: The multi-antenna heading solution is an optional feature.
Example: $GPTHS,357.623,A*31<CR><LF>
Table 3-1-15 THS message description
Data Description
A Mode indicator:
A = Autonomous, E = Estimated, M = Manual input, S = Simulator,
V = Data not valid
*31 Checksum

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3.1.16. HED : Heading and Status Information
Note: The multi-antenna heading solution is an optional feature and this message is MSJ proprietary definition
message.
Example: $MSG,HED,3,28,064432.00,,357.626,00.283,R*68 <CR><LF>
Table 3-1-16 HED message description
Data Description
3 Heading mode
0 = Not working, 1 = Calibration, 2 = Initialization, 3 = Working
28 Number of satellites, used by Heading Engine
064432.00 UTC time
<empty> Calibration or Initialization progress in percent
If the Heading mode is 1 or 2, then this number is in the range 00 – 99 or
indicator of Initialization problems (special value: -1), otherwise empty field.
If this field shows Initialization problems (-1), re-calibration must be
needed.
If the Heading mode is not 3, this field is empty field.
00.283 Pitch/Roll in degrees
R Pitch/Roll indicator
P = Pitch, R = Roll
*68 Checksum

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3.2. RTCM message
3.2.1. Standard message
RTCM message type 1002 ~ 1127 in Table 3-B are RTCM standard message. The detailed information of
these messages is shown in the following document that is published by RTCM.
RTCM SPECIAL COMMITTEE NO. 104 RTCM Paper 141-2016-SC104-STD
RTCM STANDARD 10403.3 FOR DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS)
SERVICES - VERSION 3
3.2.2. Proprietary definition message
Message type 4002 ~ 4050 in Table 3-B are proprietary definition message by MSJ.
Item # Type Contents
3.2.2.1 4002 Extended L1-Only GPS RTK Observables + Doppler
3.2.2.2 4010 Extended L1-Only GLONASS RTK Observables + Doppler
3.2.2.3 4050 LEX Raw data

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3.2.2.1. Type 4002 : Extended L1-Only GPS RTK Observables + Doppler
This message contains the information of RTCM type 1002 and GPS L1 doppler information.
Table 3-2-1 Contents of the Message Header of Type 4002
Data Field DF Range
DF
Resolution
DF
Number
Data
Type
No. Of
Bits
Preamble “11010011” - 8
Reserved “000000” - 6
Message Length 0 – 1023 - 10
Message Number “111110100010”
4002
- DF002 uint12 12
Reference Station ID 0 – 4095 - DF003 uint12 12
GPS Epoch Time (TOW) 0 – 604,799,999ms 1 msec DF004 uint30 30
Synchronous GNSS Flag 0 or 1 - DF005 bit(1) 1
No. of GPS Satellite Signals Processed 0 – 31 - DF006 uint5 5
GPS Divergence-free Smoothing Indicator 0 or 1 - DF007 bit(1) 1
GPS Smoothing Interval 0 - 7 - DF008 bit(3) 3
88
Table 3-2-2 Contents of the Satellite-Specific Portion of Type 4002
Qualcomm definition CRC-24Q 24
Example: No. of GPS Satellite Signals Processed (NS) = 6
Total data size = 88 bits + (94 bits x NS) + (Fill bit) + 24 bits = 680 bits = 85 bytes
GPS Satellite ID 1 – 63 - DF009 uint6 6
GPS L1 Code Indicator 0 or 1 - DF010 bit(1) 1
GPS L1 Pseudorange 0 – 299,792.46 0.02m DF011 uint24 24
GPS L1 PhaseRange – L1 Pseudorange ±262.1435m 0.0005m DF012 int20 20
GPS L1 Lock Time Indicator 0 – 127 - DF013 uint7 7
GPS Integer L1 Pseudorage Modulus
Ambiguity
0 – 76,447,076.790m 299,792.458
m
DF014 uint8 8
GPS L1 CNR 0 or 1 - DF015 uint8 8
GPS L1 Doppler ±5242.87 0.01m/sec int20 20
94

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3.2.2.2. Type 4010 : Extended L1-Only GLONASS RTK Observables + Doppler
This message contains the information of RTCM type 1010 and GLONASS L1 doppler information.
Table 3-2-3 Contents of the Message Header of Type 4010
Data Field DF Range
DF
Resolution
DF
Number
Data
Type
No. Of
Bits
Preamble “11010011” - 8
Reserved “000000” - 6
4010
- DF002 uint12 12
Reference Station ID 0 – 4095 - DF003 uint12 12
GLONASS Epoch Time (TOW) 0 – 604,799,999ms 1 msec DF034 uint27 27
Synchronous GNSS Flag 0 or 1 - DF005 bit(1) 1
No. of GLONASS Satellite Signals Processed 0 – 31 - DF035 uint5 5
GLONASS Divergence-free Smoothing Indicator 0 or 1 - DF036 bit(1) 1
GLONASS Smoothing Interval 0 - 7 - DF037 bit(3) 3
85
Table 3-2-4 Contents of the Satellite-Specific Portion of Type 4010
Qualcomm definition CRC-24Q 24
Example: No. of GLONASS Satellite Signals Processed (NS) = 6
Total data size = 85 bits + (99 bits x NS) + (Fill bit) + 24 bits = 704 bits = 88 bytes
GLONASS Satellite ID 1 – 63 - DF038 uint6 6
GLONASS L1 Code Indicator 0 or 1 - DF039 bit(1) 1
GLONASS Satellite Frequency Channel Number 0 - 20 1 DF040 uint5 5
GLONASS L1 Pseudorange 0 – 599,584.92 0.02m DF041 uint25 25
GLONASS L1 PhaseRange – L1 Pseudorange ±262.1435m 0.0005m DF042 int20 20
GLONASS L1 Lock Time Indicator 0 – 127 - DF043 uint7 7
GLONASS Integer L1 Pseudorage Modulus
Ambiguity
0 – 76,447,076.790m 299,792.458
m
DF044 uint7 7
GLONASS L1 CNR 0 or 1 - DF045 uint8 8
GLONASS L1 Doppler ±5242.87 0.01m/sec int20 20
99

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3.2.2.3. Type 4050 : LEX Raw Data
This message contains raw L6 signal data from QZS satellites
Table 3-2-5 Type 4050 LEX Raw Data format
Data Field DF Range
DF
Resolution
DF
Number
Data Type
No. Of
Bits
Preamble “11010011” - 8
Reserved “000000” - 6
4050
- DF002 uint12 12
Reserved - bit(4) 4
TOW 0 – 604,799 1 sec uint20 20
Number of correction error bits 0 - 15 - int4 4
PRN 0 – 255 - uint8 8
L6 Message Type ID - bit(8) 8
Alert Flag 0 or 1 - bit(1) 1
Data Part (after error correction) - bit(1695) 1695
Qualcomm definition CRC-24Q - bit(24) 24
1800
Total data size = 225 bytes
For the detailed information about L6 Header Part (PRN, L6 Message Type ID, Alert Flag) and Data Part,
please refer to the following documents
 IS-QZSS-L6-004 (https://qzss.go.jp/technical/download/ps-is-qzss.html)
 Interface Specification for GPAS-MADOCA Product (https://www.gpas.co.jp/service_madoca.php)

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3.3. Command response message
When GNSS receiver receives any command, receiver outputs a response message according to the
content of command.
If there is no error in command input,
$ANS,CMD,OK<CR><LF>
If there is an error in command input,
$ANS,CMD,FAILED<CR><LF>
When that command has individual response message,
$RSP,<Type of command>,<Length of response message>,<CR><LF>
<Contents of response message><CR><LF>
<Checksum><CR><LF>
For more detail, please refer to each description page in the section “4. Input message specification”.
The range of checksum calculation is from $RSP to Linefeed<LF> before the checksum field.
3.4. Receiver Startup message
GNSS receiver outputs the startup message when the firmware starts up. The message contains the
progress status of firmware startup, the hardware version and the firmware version.
(Example)
Loading 1 2 3 4 5 6 7 8 done<CR><LF>
MSJ Luscinia2plus<CR><LF>
GNSS FW version A89r<CR><LF>

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4. Input command specification
The followings are common input command formats. Please refer to the table 4 for the detail of each
command.
$QRY,<command>,<CR><LF> or $CMD,<command>,<CR><LF>
Table 4 List of Input commands
No. Item Contents
4.1. Message output
4.1.1. NMEA0183 output Output settings for NMEA0183 standard message and MSJ
proprietary message
4.1.2. RTCM output Output settings for RTCM standard message and MSJ
proprietary message (except for Type 4050)
4.1.3. LEX Raw Data output Output settings for LEX Raw Data (RTCM Type 4050)
4.1.4. Stop all messages output Stop all messages that are currently outputting from the
specified port
4.1.5. Message output settings display Shows message output settings of each port by CSV format.
4.2. Reset GNSS receiver
4.2.1. Reset receiver Reset GNSS receiver
4.2.2. Clear receiver settings Reset GNSS receiver with default settings
4.3. Reference station (Base station)
4.3.1. Reference position
(Current position)
Set the reference position with current position
(Geodetic)
Set the reference position with Geodetic coordinate
(Latitude/Longitude/Altitude)
(Cartesian)
Set the reference position with Cartesian coordinate (XYZ)
(Moving base)
Set receiver mode to the moving base mode
4.3.5. Reference station ID Set reference station ID
4.3.6. Reference station settings display Show the current reference station settings
4.3.7. MSM signal masks for base
receiver
Set MSM signal mask for base receiver
4.3.8. MSM signal masks for rover
receiver
Set MSM signal mask for rover receiver
4.3.9. MSM signal mask settings display Show the current MSM signal mask settings

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4.4. Precise Point Positioning (PPP)
4.4.1. MADOCA-PPP mode control Activate/Deactivate MADOCA-PPP
The source of MADOCA correction information (L6E) is
automatically selected.
4.4.2. CLAS mode control Activate/Deactivate CLAS positioning
The source of CLAS correction information (L6D) is
automatically selected.
4.4.3. PPP(MADOCA/CLAS) mode
deactivation
Deactivate PPP(MADOCA-PPP/CLAS) mode
4.4.4. PPP(MADOCA/CLAS) mode
display
Display the current PPP(MADCA/CLAS) mode
4.5. Receiver positioning parameters
4.5.1. Elevation mask Set elevation mask
4.5.2. Dynamic mode Set dynamic mode
4.5.3. PDOP mask Set PDOP mask
4.5.4. Local time zone Set Local time zone
4.5.5. Geoid model Set Geoid model
4.5.6. Geoid model display Display the current Geoid model
4.5.7. COG empty mode Output control of COG in NMEA0183 RMC/VTG message
4.6. Receiver communication parameters
4.6.1. Baud rate Set baud rate in serial port
4.6.2 Serial Communication parameter Set communication parameters in serial port
4.6.3 Serial Communication parameters
display
Display the current serial communication parameters of all
serial ports
4.7. Firmware and Options
4.7.1. Firmware version Display firmware version
4.7.2. Options Display option features
4.9. Multi-antenna Heading Solution *1
4.9.1. Enable the heading mode Enable the heading mode and start heading calibration
4.9.2. Disable the heading mode Disable the heading mode
4.9.3. Request for the heading
calibration parameters
Show the heading calibration parameters
4.9.4. Reset the heading calibration
parameter
Reset the heading calibration parameters
*1 Multi-antenna Heading Solution is an optional feature

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4.1. Message output
4.1.1. NMEA0183 output
There are two types of messages for NMEA0183 message output. They are “One-shot message output”
and “Continuous message output”.
(1) One-shot message output
GNSS receiver outputs NMEA0183 sentence only once. The message is outputted from the same port
where the command is inputted.
Command syntax: $QRY,MSG,NMEA0183_sentence
Example of Command input: $QRY,MSG,GGA
Table 4-1-1 Command syntax for NMEA0183 one-shot message output
Structure Description
$QRY Command header
MSG Message header
GGA NMEA0183 sentence
GGA,GLL,GSA,GSV,RMC,VTG,ZDA,RME,CLS,REF,SA3,SA5,SA6
Example of message output: Please refer to the section “3.1. NMEA0183 message”.

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(2) Continuous message output
GNSS receiver outputs NMEA0183 sentence with the specified cycle. The message is outputted
from the specified port.
Command syntax: $CMD,CHN,port number,MSG,NMEA0183_sentence,cycle
Example of command input: $CMD,CHN,1,MSG,GGA,1
(GGA sentence is outputted from Port-A with 1 second cycle.)
Table 4-1-2 Command syntax for NMEA0183 continuous message output
$CMD Command header
CHN Channel header
1 Port number or Channel symbol name (See Table 2-1)
MSG Message header
GGA NMEA0183 sentence
GGA,GLL,GSA,GSV,RMC,VTG,ZDA,RME,CLS,REF,SA3,SA5,SA6
1 Cycle: 0 (Stop), 0.1, 0.2, 0.5, 1, 2, … 60 (sec)
(Note: 0.1 = 10Hz、1 = 1Hz)
<CR><LF> Command terminator
Example of response message: $ANS,CMD,OK<CR><LF>

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4.1.2. RTCM output
This command performs the output settings for RTCM message.
Example of command input: $CMD,CHN,UA-3,MSG,RT3_1004,1
(RTCM type 1004 message is outputted from Port-C with 1 second cycle.)
Table 4-1-3 Command syntax for RTCM output settings
$CMD Command header
CHN Channel header
UA-3 Port number or Channel symbol name (See Table 2-1)
MSG Message header
RT3_1004 RTCM message type (Note: Except for Type 4050)
(e.g.)
RT3_1004 : Type 1004 message
RT3_1019 : Type 1019 message
MSM4 : MSM4 message (See Table 4-1-4)
MSM7 : MSM7 message (See Table 4-1-4)
1 Cycle: 0 (Stop), 0.1, 0.2, 0.5, 1, 2, … 60 (sec)
(Note: 0.1 = 10Hz、1 = 1Hz)
When the message group is specified as RTCM message type, the bunch of RTCM messages in the Table
4-1-4 are outputted.
Table 4-1-4 RTCM message group
Message Group List of RTCM message
MSM3 1073, 1083, 1093, 1113, 1123, 1006, 1008, 1033
MSM4 1074, 1084, 1094, 1114, 1124, 1006, 1008, 1033
MSM5 1075, 1085, 1095, 1115, 1125, 1006, 1008, 1033
MSM7 1077, 1087, 1097, 1117, 1127, 1006, 1008, 1033
RTCM31 1004, 1012, 1006

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4.1.3. LEX Raw Data output
This command is used to perform the output settings of QZSS L6 signal raw data. The LEX raw data are
outputted only when receiver receives L6 signal from QZS satellite.
Example of command input: $CMD,CHN,UA-3,MSG,LEX,1
(QZSS L6 message is outputted from Port-C.)
Table 4-1-5 Command syntax for LEX raw data output settings
$CMD Command header
CHN Channel header
MSG Message header
LEX LEX message
1 Output settings: 0 (stop), 1 (output)

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4.1.4. Stop all messages output
This command is used to stop all messages (NMEA0183 and RTCM) output from the specified port.
Example of command input: $CMD,CHN,UA-1,MSG,ALL,0
(Stop all messages from Port-A.)
Table 4-1-6 Command syntax for stopping all messages
$CMD Command header
CHN Channel header
MSG Message header
ALL ALL
0 0 (Stop all messages)

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4.1.5. Message output settings display
This command shows the current message output settings in receiver by CSV format.
Example of Command input: $QRY,MSG,SPIS
Table 4-1-7 Command syntax for message output settings display
$QRY Command header
MSG Message header
SPIS Message output settings display
Example of response message:
$RSP,MSG,SPIS,969,<CR><LF>
GGA,VTG,GLL,ZDA,GSA,GSV,RMC,RME,HDT,THS,SA3,SA5,SA6,…<CR><LF>
01,UA-1:1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,…<CR><LF>
02,UA-2:0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,…<CR><LF>
03,UA-3:0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,…<CR><LF>
04,USBS:0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,…<CR><LF>
*04<CR><LF>
Table 4-1-8 Response message of Message output settings display
Data Description
$RSP Response header
MSG Message header
SPIS SPIS command
969 Length of response message: 969 characters
<CR><LF> CR + LF
GGA,VTG,GLL,ZDA,… Response message: Table header
01,UA-1:1,0,0,1,0,0,0,0,… “01,UA-1:” : Port number and Symbol name
“1,0,0,1,0,0,0,0,…” ：Message output settings
0 = No output, 0.01 = 100Hz, 0.02 = 50Hz,
0.05 = 20Hz, 0.1 = 10Hz, 0.2 = 5Hz,
0.5 = 2Hz, 1 = 1Hz, …
*04 Checksum
<CR><LF> Message terminator

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4.2. Reset GNSS receiver
4.2.1. Reset receiver
This command is used to reset GNSS receiver. After this command is applied, receiver will be restarted
while all settings (RTC, NVRAM and output settings) are kept.
Example of command input: $CMD,RESET
Table 4-2-1 Command syntax of RESET command
$CMD Command header
RESET RESET command
Example of response message: None
4.2.2. Clear receiver settings
This command is used to clear all settings in GNSS receiver. After this command is applied, all settings
(RTC, NVRAM and output settings) revert to the factory default settings, then receiver will be restarted.
Example of command input: $CMD,CLEAR
Table 4-2-2 Command syntax of CLEAR command
$CMD Command header
CLEAR CLEAR command
Example of response message: None

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4.3. Reference Station (Base Station) settings
4.3.1. Reference Position (Current position)
This command is used to set a reference position when GNSS receiver is used as base station. Computed
position by receiver is used as the reference position. If computed positions have PDOP less than PDOP
threshold, this command will be accepted. Otherwise, this command returns "$ANS,CMD,FAILED".
Example of command input: $CMD,REF,CUR,1.5
Table 4-3-1 Command syntax for Reference Position settings (Current position)
$CMD Command header
REF REF command
CUR CUR command
1.5 PDOP mask value
if this parameter is absent, value 2.0 will be set by default.

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4.3.2. Reference Position (Geodetic)
This command is used to set a reference position when GNSS receiver is used as base station. The
reference position with geodetic coordinate is manually applied.
Example of command input: $CMD,REF,GEO,WGS84,3443.9182945,N,13523.9780165,E,00100.00
Table 4-3-2 Command syntax for Reference Position settings (Geodetic)
$CMD Command header
REF REF command
GEO GEO command
WGS84 Reference datum name (Only WGS84 is supported)
N Latitude direction (North: N, South: S)
E Longitude direction (East: E, West: W)
00100.00 Geodetic altitude (altitude above ellipsoid) in meters

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4.3.3. Reference Position (Cartesian)
This command is used to set a reference position when GNSS receiver is used as base station. The
reference position with Cartesian coordinate is manually applied.
Example of command input: $CMD,REF,WGS84,-3737061.314,3685298.405,3612000.380
Table 4-3-3 Command syntax for reference position settings (Cartesian)
$CMD Command header
REF REF command
WGS84 Reference datum name (Only WGS84 is supported)

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4.3.4. Reference Position (Moving base)
This command puts the receiver in Moving base mode.
Example of command input: $CMD,REF,MOVING
Table 4-3-4 Command syntax for reference position settings (Moving base)
$CMD Command header
REF REF command
MOVING Moving base mode

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4.3.5. Reference Station ID
This command is used to set Reference Station ID. Reference Station ID can be assigned with unique
value in the range of 0 to 4095. That default value is 0.
Example of command input: $CMD,REF,ID,1234
Table 4-3-5 Command syntax for Reference Station ID settings
$CMD Command header
REF REF command
ID Reference Station ID command
1234 Reference Station ID：0 - 4095 (default: 0)

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4.3.6. Reference Station settings display
This command is used to display the current reference station settings in receiver.
Example of command input: $QRY,MSG,REF
Table 4-3-6 Command syntax for Reference Station settings display
$QRY Query command header
MSG Message header
REF REF command
Example of response message: $MSG,REF,163010.40,1,512,3442.9249999,N,13523.9741666,E,
00070.00,-3737061.314,3685298.405,3612000.380*02<CR><LF>
Table 4-3-7 Response message of Reference Station settings display
Data Description
$MSG Message header
REF REF command
163010.40 UTC time of position fix, hhmmss.ss
1 Reference position mode
0 = Reference position not available or invalid
1 = Reference position set by command
2 = Moving base
3 = CLAS-SIBS*1
4 = MADOCA-SIBS*1
512 Reference Station ID
3442.9249999 Reference position latitude, ddmm.mmmmmmm
N Latitude direction (N: North, S: South)
13523.9741666 Reference position longitude, dddmm.mmmmmmm
E Longitude direction (E: East, W: West)
00070.00 Reference position geodetic altitude (altitude above ellipsoid) in meters
*02 Checksum

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*1 SIBS is an optional feature.
*

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4.3.7. MSM signal masks for base receiver
This command is used for selecting signals (signal mask) used to form RTCM. It decides what signal should
be contained in RTCM stream.
Example of command input: $CMD,RTM,COD,GPS,202
Table 4-3-8 Command syntax for set MSM signal masks
$CMD Command header
RTM RTM command
COD COD command
GPS Satellite system name
Currently the following parameter names are supported in this command:
GPS, GLO, GAL, BDS, QZS.
202 MSM signal mask (default value = FFFFFFFF)
This parameter is represented in hexadecimal format according to Table 4-
20. (Up to 8 hexadecimal signs).
For example, L1C/A and L2P(Z-tracking) signal for GPS is set in RTCM.
0000 0000 0000 0000 0000 0010 0000 0010b = 202 (hex)
Table 4-3-9 MSM signal mask

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4.3.8. MSM signal masks for rover receiver
This command is used for selecting signals (signal mask) used to decode RTCM. It decides which signals
in RTCM stream from the base receiver should be decoded and used.
Example of command input: $CMD,RTM,DEC,GPS,202
Table 4-3-10 Command syntax for set MSM signal masks
$CMD Command header
RTM RTM command
DEC DEC command
GPS Satellite system name
Currently the following parameter names are supported in this command:
GPS, GLO, GAL, BDS, QZS.
202 MSM signal mask (default value = FFFFFFFF)
3-9. (Up to 8 hexadecimal signs).
0000 0000 0000 0000 0000 0010 0000 0010b = 202 (hex)

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4.3.9. MSM signal masks settings display
This command is used to display the current MSM signal mask settings in receiver.
Command input: $QRY,RTM
Table 4-3-11 Command syntax for MSM signal mask settings display
RTM RTM command
Example of response message:
$RSP,RTM,128,<CR><LF>
GPS,202,ffffffff,GLO,ffffffff,ffffffff,GAL,ffffffff,ffffffff,BDS,ffffffff,ffffffff,QZS,ffffffff,...
*14<CR><LF>
Table 4-3-12 Response message of MSM signal mask settings display
Data Description
$MSG Message header
RTM RTM command
128 Length of response message: 128 characters
<CR><LF> CR + LF
GPS,202,ffffffff,... Response message:
GPS,202,ffffffff,GLO,ffffffff,ffffffff,GAL,ffffffff,ffffffff,BDS,ffffffff,....
Satellite System(GPS),MSM signal mask for base,MSM signal mask for
rover, Satellite System(GLO),....
Satellite System: GPS,GLO,GAL,BDS,QZS
MSM signal mask (default value = FFFFFFFF)
3-9. (Up to 8 hexadecimal signs).
0000 0000 0000 0000 0000 0010 0000 0010b = 202 (hex)
*14 Checksum
<CR><LF> Response message terminator

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4.4. Precise Point Positioning (PPP)
4.4.1. MADOCA-PPP mode control
This command is used to set as automatic QZSS PRN selection for getting the augmentation message of
MADOCA, which is provided on L6E signal, and to control MADOCA-PPP mode. GNSS receiver will select
a proper QZSS satellite in view in order to get the augmentation message of MADOCA.
Example of input command: $CMD,MADOCA,AUTO,ON
Table 4-4-1 Command syntax for MADOCA-PPP mode control (Automatic selection)
$CMD Command header
MADOCA MADOCA-PPP command
AUTO Automatic QZSS satellite selection mode
ON/OFF Activate/Deactivate
Note: If user wants to change QZSS PRN or positioning mode, MSJ recommends changing QZSS PRN
after user deactivates the current QZSS PRN by this command or “$CMD,QZS,ALL,OFF”.

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4.4.2. CLAS mode control
This command is used to set as automatic QZSS PRN selection for getting the augmentation message of
CLAS, which is provided on L6E signal, and to control CLAS mode. GNSS receiver will select a proper QZSS
satellite in view in order to get the augmentation message of CLAS.
Example of command input: $CMD,CLAS,AUTO,ON
Table 4-4-2 Command syntax for CLAS mode control (Automatic selection)
$CMD Command header
CLAS CLAS command
AUTO Automatic QZSS satellite selection mode
ON/OFF Activate/Deactivate
Note: If user wants to change QZSS PRN or positioning mode, MSJ recommends changing QZSS PRN
after user deactivates the current QZSS PRN by this command or “$CMD,QZS,ALL,OFF”.

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4.4.3. PPP(MADOCA/CLAS) mode deactivation
This command is used to deactivate MADOCA/CLAS mode.
Example of command input: $CMD,QZS,ALL,OFF
Table 4-4-3 Command syntax of deactivate PPP(MADOCA/CLAS) mode
$CMD Command header
QZS QZS satellite selection command
ALL ALL
OFF OFF

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4.4.4. PPP(MADOCA/CLAS) mode display
This command is used to display PPP mode which is currently used in GNSS receiver.
Command input: $QRY,PPP
Table 4-4-4 Command syntax for PPP(MADOCA/CLAS) mode display
PPP PPP mode display
Example of response message: $RSP,PPP,6,<CR><LF>
CLAS<CR><LF>
*06<CR><LF>
Table 4-4-5 Response message of PPP(MADOCA/CLAS) mode display
Data Description
$RSP Response message header
PPP PPP mode display
6 Length of response message：6 characters
<CR><LF> CR + LF
CLAS<CR><LF> Response message
OFF : PPP mode is not active
CLAS : CLAS mode
MADOCA: MADOCA mode
*06 Checksum

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4.5. Receiver positioning parameters
4.5.1. Elevation mask
This command is used to set positioning elevation mask.
Example of command input: $CMD,EMP,15
Table 4-5-1 Command syntax of Position Elevation mask settings
$CMD Command header
EMP EMP command header
15 Elevation mask in degrees 0.0 - 90.0 (deg) *default: 5 degrees
If floating point number is specified in this command, its fractional part will
be discarded internally and only integer part of specified value used to set
elevation mask.

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4.5.2. Dynamic mode
This command is used to set the dynamic mode (master PLL parameter).
Example of command input: $CMD,SET,DYN,4,12.5,STD
Table 4-5-2 Command syntax of Dynamic mode settings
$CMD Command header
SET SET command
DYN DYN command
4 Dynamic mode
0 : Static mode、1 : Quasi-static mode、2 : Walk mode
3 : Ship mode、4 : Automotive mode (default)
5 : Airplane mode、6 : Unlimited mode
12.5 PLL band width: 3.0 - 30.0 (Optional parameter)
STD PLL discriminator type (Optional parameter)
STD : Standard PLL discriminator (default)
EXT : Extended PLL discriminator
Note: PLL band width and PLL discriminator type are optional parameters.
Dynamic mode PLL band width PLL discriminator type
0 : Static mode 5 Hz STD
1 : Quasi-static mode 12.5 Hz STD
2 : Walk mode 12.5 Hz STD
3 : Ship mode 12.5 Hz STD
4 : Automotive mode 12.5 Hz STD
5 : Airplane mode 25.0 Hz EXT
6 : Unlimited mode 25.0 Hz EXT

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4.5.3. PDOP mask
This command is used to set PDOP mask.
Example of command input: $CMD,PDM,99
Table 4-5-3 Command syntax for PDOP mask settings
$CMD Command header
PDM PDM command
99 PDOP mask value 0～1000000 (default 99)
Note: If PDOP mask is set to above 100 and a calculated PDOP in receiver is above threshold, receiver
outputs a blank as PDOP in GGA message.
4.5.4. Local Time Zone
This command is used to set local time zone. The local time zone settings will be applied to the
local time zone field in NMEA0183 ZDA message.
Example of command input: $CMD,LTZ,-09,00
Table 4-5-4 Command syntax for Local Time Zone settings
$CMD Command header
LTZ LTZ command
-09 Local zone time Hour
00 Local zone time Minute

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4.5.5. Geoid model
This command is used to change the Geoid model in GNSS receiver.
Example of command input: $CMD,SET,GEOID,GSIGEO2011
Table 4-5-5 Command syntax for Geoid model settings
$CMD Command header
SET SET command
GEOID GEOID command
GSIGEO2011 Geoid model
GSIGEO2011 : Japanese Geoid 2011 (default)
EGM2008 : Global Geoid

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4.5.6. Geoid model display
This command is used to display Geoid model which is currently used in GNSS receiver.
Command input: $QRY,GEOID
Table 4-5-6 Command syntax for Geoid model display
GEOID GEOID display
Example of response message: $RSP,GEOID,12,<CR><LF>
GSIGEO2011<CR><LF>
*2C<CR><LF>
Table 4-5-7 Response message of Geoid model display
Data Description
GEOID GEOID display
<CR><LF> CR + LF
GSIGEO2011<CR><LF> Response message (Geoid model：GSIGEO2011)
*2C Checksum

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4.5.7. COG empty mode
This command is used to change the Course Over Ground (COG) empty mode.
Example of command input: $CMD,CEM,ON
Table 4-5-8 Command syntax for COG empty mode settings
$CMD Command header
CEM CEM command
ON ON: In the case of ON at low speeds, empty COG in NMEA0183 RMC/VTG
is outputted.
OFF: COG in NMEA0183 RMC/VTG is always outputted.
The heading value(COG) in RMC and VTG message is defined as the direction of the velocity vector along
a horizontal surface. The noise component (RMS) of the velocity vector is always approximately the same,
it doesn't depend on real velocity value. In the absence of movement, the velocity vector randomly rotates
in different directions, so the COG changes in an arbitrary way. If user does not want this random COG value
in the absence of movement, receiver can omit COG value in RMC and VTG message by this command.

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4.6. Receiver communication parameters
4.6.1. Baud rate
This command is used to change baud rate of serial port in GNSS receiver.
Example of command input: $CMD,CHN,1,SPD,6
Table 4-6-1 Command syntax for baud rate settings
$CMD Command header
CHN Channel header
1 Port number or Channel symbol name (See Table 2-1)
SPD SPD command
6 Baud rate
4 : 4800 bps, 5 : 9600 bps, 6 : 19200 bps, 7 : 38400 bps,
8 : 57600 bps, 9 : 115200 bps (default), 10 : 230400 bps,
11 : 460800 bps
Note: Baud rate of serial port can be changed by this command, but the startup message of receiver
is outputted at the default parameter set.

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4.6.2. Serial communication parameter
This command is used to set communication parameters for serial port in GNSS receiver.
Example of command input: $CMD,SET,PORT,PARAMS,1,6,8,0,0,0
Table 4-6-2 Command syntax for serial communication parameters
$CMD Command header
SET SET command
PORT PORT settings
PARAMS PARAMS settings
1 Port number (Note: Channel symbol name cannot be used)
6 Baud rate
4 : 4800 bps, 5 : 9600 bps, 6 : 19200 bps, 7 : 38400 bps,
8 : 57600 bps, 9 : 115200 bps (default), 10 : 230400 bps,
11 : 460800 bps
8 Data bits 5 - 8 bits (default: 8 bits)
0 Parity bits 0 : None (default), 1 : Odd, 2 : Even, 3 : Mark, 4 : Space
0 Stop bits 0 : 1 stop bit (default), 1 : 2 stop bit
0 Flow control 0 : None (default), 1 : XON/XOFF, 2 : RTS/CTS
Note: Any communication parameter of serial port can be changed by this command, but the startup
message of receiver is outputted at the default parameter set.

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4.6.3. Serial Communication parameters display
This command is used to display serial communication parameters settings of all serial ports.
Command input: $QRY,PORT,SER
Table 4-6-3 Command syntax for Serial Communication parameters display
PORT PORT display
SER Serial Communication parameters display
Example of response message: $RSP,PORT,SER,9,<CR><LF>
1,9,8,0,0,0<CR><LF>
2,9,8,0,0,0<CR><LF>
3,9,8,0,0,0<CR><LF>
*2B<CR><LF>
Table 4-6-4 Response message of Serial Communication parameters display
Data Description
PORT PORT display
SER Serial Communication parameters display
<CR><LF> CR + LF
1,9,8,0,0,0<CR><LF> Response message (This field is repeated as the number of serial ports)
1 : Port number
9 : Baud rate
4 = 4800 bps, 5 = 9600 bps, 6 = 19200 bps, 7 = 38400 bps,
8 = 57600 bps, 9 = 115200 bps (default), 10 = 230400 bps,
11 = 460800 bps
8 : Data bits
0 : Parity bits (0 = None, 1 = Odd, 2 = Even, 3 = Mark, 4 = Space)
0 : Stop bits (0 = 1 stop bit, 1 = 2 stop bit)
0 : Flow control (0 = None, 1 = XON/XOFF, 2 = RTS/CTS)
*2C Checksum

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4.7. Firmware
4.7.1. Firmware version
This command is used to display the firmware version.
Example of command input: $QRY,VER
Table 4-7-1 Command syntax for firmware version display
VER VER command
Example of response message: $RSP,VER,41,<CR><LF>
MSJ Luscinia2plus<CR><LF>
GNSS FW version w17r<CR><LF>
*05<CR><LF>
Table 4-7-2 Response message for firmware version display
Data Description
$RSP Command response header
VER VER response
41 Length of response message: 42
<CR><LF> CR and LF codes
MSJ … <CR><LF> Response message: firmware version
*05 Checksum

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4.7.2. Options
This command is used to display the list of available option features, and the receiver's unique board ID.
Example of command input: $QRY,OPTIONS
Table 4-7-3 Command syntax for option features display
OPTIONS Options display
Example of response message: $RSP,OPTIONS,43,<CR><LF>
BOARD_ID e315dec4160ec1d4<CR><LF>
OPTIONS ABSENT<CR><LF>
*2E
Table 4-7-4 Response message for option features display
Data Description
$RSP Command response header
OPTIONS Options display
43 Length of response message: 43
<CR><LF> CR and LF codes
BOARD_ID … <CR><LF> Response message: Board ID and option feature list
*2E Checksum
Note 1: BOARD_ID is the unique ID which is assigned to each GNSS receiver hardware.
Note 2: The “ABSENT” will be shown if GNSS receiver does not have any option feature.

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4.8. Multi-antenna Heading Solution
This is the feature for calculating accurate heading of vessel and vehicle using a couple of GNSS antennas
and GNSS receiver. This feature is an optional feature of GNSS receiver.
4.8.1. Enable the heading mode
This command is used for turning on the Heading mode. This command must be applied to the slave
receiver, but this command may be applied to the slave receiver through the master receiver if the daisy
chain is configured.
Note: The heading solution is an optional feature.
Example of command input: $CMD,HED,0,1,ON
Table 4-8-1 Command syntax for turning on the heading mode
$CMD Command header
HED HED command
0 Geometric configuration for the system in relation to the direction of travel
0 – Antenna 1 behind and Antenna 2 in front
1 – Antenna 1 on the right and Antenna 2 on the left
2 – Antenna 1 in front and Antenna 2 behind
3 – Antenna 1 on the left and Antenna 2 on the right
1 Calibration mode
0 – Single angle mode, 1 – Dual angle mode
ON Heading mode ON

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4.8.2. Disable the heading mode
This command is used for turning off the Heading mode. This command must be applied to the slave
receiver, but this command may be applied to the slave receiver through the master receiver if the daisy
chain is configured.
Example of command input: $CMD,HED,OFF
Table 4-8-2 Command syntax for turning off the heading mode
$CMD Command header
HED HED command
OFF Heading mode OFF

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4.8.3. Request for the heading calibration parameters
This command is used for displaying the heading calibration parameters. This command must be applied
to the slave receiver, but this command may be applied to the slave receiver through the master receiver if
the daisy chain is configured.
Command input: $QRY,HCAL
Table 4-8-3 Command syntax for heading calibration parameters display
HCAL Heading calibration parameters display
Example of response message: $RSP,HCAL,15,<CR><LF>
2.024,0,0.000<CR><LF>
*4B<CR><LF>
Table 4-8-4 Response message for heading calibration parameters display
Data Description
$RSP Message header
HCAL Heading calibration parameters display
15 Length of response message
<CR><LF> CR + LF
2.024 Baseline length estimate, meters, 3 decimal places.
This field would be empty field if there are no calibration results.
0 Calibration mode (0 – Single angle mode, 1 – Dual angle mode)
This field would be empty field if there are no calibration results
0.000 Offset of the additional angle (pitch/roll), degrees, 3 decimal places.
This field would be empty if Calibration mode is the Single angle mode or
there are no calibration results.
<CR><LF> CR + LF
*4B Checksum

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4.8.4. Reset the heading calibration parameters
This command is used for reset of the heading calibration parameters in memory (including in NVRAM).
This command must be applied to the slave receiver, but this command may be applied to the slave receiver
through the master receiver if the daisy chain is configured.
Example of command input: $CMD,HCAL,CLEAR
Table 4-8-5 Command syntax for reset the heading calibration parameters
$CMD Command header
HCAL HCAL command
CLEAR Clear the heading calibration parameter

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Appendix A. GNSS system PRN assignment
Table A-1 shows the list of PRNs that are assigned to GNSS system by MSJ receiver. These PRNs are
mainly used in NMEA0183 message and MSJ proprietary message.
Table A-1 List of GNSS system PRN assignment in MSJ receiver
System PRN Description
GPS 1 - 32 Identical to GPS IS-GPS-200
SBAS
(WAAS, EGNOS)
33 - 64 SBAS satellite PRN minus 87
(Note: SBAS is unsupported)
GLONASS 65 - 88 GLONASS Orbit slot plus 64
Please refer to the following URL about the Orbit slot assignment.
https://www.glonass-iac.ru/en/GLONASS/
Galileo 101 - 136 E01 – E36 are assigned to 101 – 136
IRNSS 141 - 150 I01 – I10 are assigned to 141 – 150
(Note: IRNSS is unsupported)
QZSS 193 - 200 Identical to IS-QZSS-PNT-004 (Except for PRN 201 – 202)
BeiDou 201 - 264 C01 – C64 are assigned to 201 - 264

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