ComNav K801 OEM Board User guide
- Category
- Satellite antennas
- Type
- User guide
K8-series OEM Modules Commands Guide
ComNav Technology
User Guide
K801 OEM Board
Version 1.0
2023.02.08
K8-series OEM Modules Commands Guide
Corporate office
ComNav Technology Ltd.
Building 2, No.618 Chengliu Middle Road, 201801 Shanghai, China Tel: +86 21 64056796
Fax: +86 21 54309582
Website: http://www.comnavtech.com
E-mail: oem.support@comnavtech.com
Trademark notice
© 2019 ComNav Technology Ltd. All rights reserved.
SinoGNSS is the official trademark of ComNav Technology Ltd., registered in People’s Republic of
China, EU, USA and Canada.
Copyright Notice
This is the V1.0 (2023) revision of the K8-series OEM modules Command Guide. Information in
this document is subject to change without notice. It cannot be copied or translated into any
language without the written permission of ComNav Technology.
Technical Assistance
If you have any question and can't find the answer in this manual, please contact your local
dealer from which you purchased K-series OEM board. Alternatively, request technical support
from ComNav Website: www.comnavtech.com or technical support email:
oem.support@comnavtech.com. Your feedback about this Guide will help us to improve it with
future revisions. Please email your comments to: oem.support@comnavtech.com.
K8-series OEM Modules Commands Guide
Content
1. Work mode configuration ......................................................................................................... 4
1.1 Smooth mode .................................................................................................................. 4
1.2 SBAS mode
....................................................................................................................... 4
1.3 RTK mode ........................................................................................................................ 5
2. Frequently used commands ...................................................................................................... 6
2.1 Check version information .......................................................................................... 6
2.2 Log outputting message list ....................................................................................... 6
2.3 Save configuration ......................................................................................................... 6
2.4 Reset.................................................................................................................................. 7
2.5 Freset ................................................................................................................................ 7
2.6 PVT, RTK frequency ...................................................................................................... 7
2.7 Lockout/unlockout satellite system .......................................................................... 7
2.8 Setup APPSCENE ........................................................................................................... 8
2.9 Ecutoff ............................................................................................................................... 8
2.10 RTKTIMEOUT ................................................................................................................ 8
2.11 RTKFIXHOLDTIME ........................................................................................................ 8
2.12 Minimum SNR ............................................................................................................... 9
2.13 Baudrate ........................................................................................................................ 9
2.14 Interfacemode .............................................................................................................. 9
2.15 NMEA data output ....................................................................................................... 9
K8-series OEM Modules Commands Guide
1. Work mode configuration
This chapter describes the commands for frequently used work mode, which can help you to quick start to use
K801 GNSS module.
Note: comX shown in the following commands, X is the serial port number
1.1 Smooth mode
In single-point positioning, ComNav Technology have adopted an advanced smoothing filter to enhance pass-to-
pass accuracy, which need send commands as:
Set smoothedpvt on
Saveconfig
// activate the smooth mode
// Save configuration
Tip: To deactivate smooth mode, you can send command “set smoothedpvt off”.
Output GPGGA message to check if OEM board is in smooth mode, solution status should be” E,1” and differential
age value should be “99“, shown below.
$GPGGA,000359.00,3125.4999742,N,12136.9969461,E,1,07,2.5,10.4541,M,11.371,M,99,0000*4C
1.2 SBAS mode
For ComNav Technology OEM boards, the default setting for SBAS is disabled. You can enable this mode to
improve positioning accuracy if receivers in the area covered by certain SBAS satellites. Make sure GNSS antenna
is able to track satellites, and send following commands to activate this mode:
set sbas on
// activate the SBAS mode
Tip: To disable SBAS, send command “set sbas off”.
Output GPGGA message to check if OEM board is in SBAS mode, solution status should be “E,2” (SBAS mode).
K8-series OEM Modules Commands Guide
$GPGGA,015101.00,3121.0000551,N,12117.5483125,E,2,23,1.1,37.2598,M,0.000,M, 02, *58
1.3 RTK mode
Generally, RTK mode is a commonly used work mode, which can provide centimeter real-time positioning
accuracy. We recommend using RTCM3.2 as correction data, please refer to following configuration to start RTK
mode.
For the Base
RTCM3.2 (MSM4)
For the Base
Unlogall
Fix position 31.1744880 121.3878091 44.1287
(Fix auto)
Log comX rtcm1074b ontime 2
Log comX rtcm1084b ontime 2
Log comX rtcm1094b ontime 2
Log comX rtcm1124b ontime 2 1
Log comX rtcm1005b ontime 5
Log comX rtcm1033b ontime 10
Saveconfig
// clear previous settings
// fix the entered coordinate
// fix the coordinate automatically
// GPS Full PRs and Phase Ranges plus CNR
// GLONASS Full PRs and Phase Ranges plus CNR
// GALILEO Full PRs and Phase Ranges plus CNR
// BeiDou Full PRs and Phase Ranges plus CNR
// Base station coordinate
// Base station type
// Save configuration
For the Rover
For the Rover
log comX gpgga ontime 1
Interfacemode comX auto auto on
Saveconfig
//ComX output GPGGA data
//Config comX to detect RTCM corrections
// Save configuration
Tip: If comX is the serial port used for configuration currently, please replace command saveconfig with
interfacemode saveconfig.
Output GPGGA message to check if OEM board in RTK mode, solution status should be “E,4”.
K8-series OEM Modules Commands Guide
$GPGGA,015101.00,3121.0000551,N,1211
7.5483125,E,4,23,1.1,3
7.2598,M,0.000,M,
02,0004*58
2. Frequently used commands
2.1 Check version information
Log version
//Version information about the board
<VERSION COM1 0 60.0 FINESTEERING 2221 207657.200 00000000 0000 1114
< 1
< GPSCARD "S21222K801" "6155455200000000" "CRDK-K801A-TTT-0" "660A5-
V1720-1" "0.0.0" "2022/Jul/29" "18:03:5
2.2 Log outputting message list
Log loglist
//list the outputting messages from all ports
<LOGLIST COM1 0 60.0 UNKNOWN 0 292795.638 00000000 0000 11
COM1,GPGGA,ABBASCII,ONTIME,0.200,0.000,
COM1,GPGSA,ABBASCII,ONTIME,1.000,0.000
COM1,GPGSV,ABBASCII,ONTIME,1.000,0.000
COM1,GPRMC,ABBASCII,ONTIME,0.200,0.000
COM1,GPVTG,ABBASCII,ONTIME,0.200,0.000
COM1,GPGST,ABBASCII,ONTIME,0.200,0.000
2.3 Save configuration
Saveconfig
//save configuration
K8-series OEM Modules Commands Guide
2.4 Reset
Reset
// performs a hardware reset
2.5 Freset
Freset
//Reset to the factory default
This command clears data which is stored in non-volatile memory, and set the baud rate to 115200. No data log is
outputted.
2.6 PVT, RTK frequency
SET PVTFREQ PARAM1
SET RTKFREQ PARAM2
//setup PVT frequency
//setup RTK frequency
Param1, param2=1/2/5, param2 will be less than or equal to param1.
2.7 Lockout/unlockout satellite system
(un)lockout bd2
// (un)lockout BDS-2 system
(un)lockout bd3
// (un)lockout BDS-3 system
(un)lockout bds
// (un)lockout BDS-2 & BDS-3 system
(un)lockout gps
// (un)lockout GPS system
(un)lockout glonass
// (un)lockout Glonass system
(un)lockout qzss
//(un)lockout QZSS system
(un)lockout galileo
// (un)lockout Galileo system
K8-series OEM Modules Commands Guide
2.8 Setup APPSCENE
Set navmode param1
//setup application scene
Param1
Description
Normal
Normal
Fitness
Dynamic
Stationary
Static
Drone
Drone
Swimming
Swimming
Bike
Bike
2.9 Ecutoff
ECUTOFF <cutoff-angle>
//Set satellite elevation cut-off angle (-90 ~ 90 degrees)
This command sets the elevation cut-off angle for tracked satellites. The board does not start automatically
searching for a satellite until it rises above the cut-off angle. Tracked satellites that fall below the cut-off angle are
no longer tracked.
2.10 RTKTIMEOUT
RTKTIMEOUT <time-delay>
// time-delay: less than 1200s, default 200s
This command is used to set the maximum age of RTK data to use when operating as a rover station. RTK data
received that is older than the specified time is ignore.
2.11 RTKFIXHOLDTIME
RTKFIXHOLDTIME <time-delay>
// time-delay: less than 1200s, default value is 200
This command is used to set the maximum age of RTK fixed data to use when operating as a rover station. RTK
fixed data received that is older than the specified time is ignored.
K8-series OEM Modules Commands Guide
2.12 Minimum SNR
Set minisnr param1
//param: 9~37, default 15
This command is used to set the minimum signal-to-noise ratio for tracking satellites.
2.13 Baudrate
Com param1 param2
// Param1: com1/com2/com3
//Param2: 115200/230400/460800/921600
This command is used to modify the baudrate of com port. A reboot operation is needed after giving this
command.
2.14 Interfacemode
Interfacemode comX <input-mode><output-mode> on
This command is used to setup input/output mode of comX port.
Mode
Description
Auto
The port supports receive/transmit RTCM, RTCM V3
Compass
The port supports receive/transmit ComNav command
2.15 NMEA data output
Log comX gpgga ontime 1
//Output GPGGA
Log comX gpgsv ontime 1
//Output GPGSV
Tip: You can also output GSA, ZDA, RMC, GLL, NTR and other NMEA-0183 data.
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ComNav K801 OEM Board User guide
- Category
- Satellite antennas
- Type
- User guide
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