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

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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

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© 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 // activate the smooth mode
Saveconfig // 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 //ComX output GPGGA data
Interfacemode comX auto auto on //Config comX to detect RTCM corrections
Saveconfig // 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,12117.5483125,E,4,23,1.1,37.2598,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 //setup PVT frequency

SET RTKFREQ PARAM2 //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

// Param1: com1/com2/com3
Com param1 param2
//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.