PX1125R

Small-Size Multi-Band GNSS

Receiver for Centimeter-Level
Accuracy Applications

Features The PX1125R offers centimeter-level accuracy based on carrier

⚫ Centimeter-level accuracy RTK receiver phase RTK technique and can be used for a wide range of
⚫ GPS L1/L5, Galileo E1/E5a, BDS B1I/B2a, high-accuracy positioning applications. Its 12.2mm x 16.0mm
form factor makes it ideal for mobile precision positioning
NavIC L5 application requiring small size.
⚫ 12.2mm x 16.0mm size
The receiver receives RTCM 3.x data from a local base station, a
⚫ NMEA-0183 and RTCM 3.x protocol virtual reference station (VRS) in a Network RTK configuration,
⚫ Easy to integrate or another SkyTraq RTK receiver setup as in base station mode
to perform carrier phase RTK processing, achieving centimeter
⚫ Operating temperature -40 ~ +85ºC level accurate relative positioning.
⚫ RoHS compliant
The PX1125R receiver is based on SkyTraq’s high-performance
Phoenix GNSS chipset, featuring fast signal acquisition search
engine and high-sensitivity track engine. Search engine performs
16 million time-frequency hypothesis testing per second,
Applications offering industry-leading signal acquisition performance.
⚫ Machine control & automation
The receiver is optimized for mass market applications requiring
⚫ Unmanned aerial vehicle
high-precision centimeter-level accuracy, high-performance, low
⚫ Precision agriculture power, and lower cost.
⚫ GIS data collection
⚫ Precision heading & attitude

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TECHNICAL SPECIFICATIONS

Receiver Type 230 channel Phoenix GNSS engine

GPS/QZSS L1/L5, Galileo E1/E5a, BDS B1I/B2a, NavIC L5

Accuracy Position 1.5m CEP autonomous mode

1cm + 1ppm RTK mode
Velocity 0.05m/sec*1
Time 12ns
Moving Base Heading 0.13 degree*2

Time to First Fix 1 second hot-start under open sky (average)

28 second warm-start under open sky (average)
29 second cold-start under open sky (average)

RTK Convergence < 10sec

Reacquisition 1s

Max Update Rate RTK 1 / 2 / 4 / 5 / 8 / 10 Hz

Raw Measurement 1 / 2 / 4 / 5 / 8 / 10 / 20 Hz
Moving Base RTK and Advance Moving Base RTK1 / 2 / 4 / 5 / 8 Hz

RTK: for precise positioning. Moving-Base (MB) RTK for precise heading. Advanced Moving Base
(AMB) RTK for precise positioning & heading.

Operational Limits Altitude < 80,000m and velocity < 515m/s

Serial Interface 3.3V LVTTL level

Protocol NMEA-0183 V4.1

GGA, GLL, GSA, GSV, RMC, VTG
115200 baud, 8, N, 1

RTCM 3.x or SkyTraq raw data binary

115200 baud, 8, N, 1

Datum Default WGS-84 and user definable in stand-alone mode

Depends on base reference frame when in RTK mode

Input Voltage 3.3V DC +/-10%

Current Consumption 115mA acquisition, 95mA tracking

Dimension 16.0mm L x 12.2mm W x 2.9mm H

Weight: 1.7g

Operating Temperature -40oC ~ +85oC

Storage Temperature -55 oC ~ +100oC

Humidity 5% ~ 95% non-condensing

*1 50% @ 30 m/s for dynamic operation

*2 (1-sigma) heading accuracy using 1 meter baseline

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FUNCTIONAL DESCRIPTION

Active antenna is required to use with PX1125R. The received signal goes through a signal splitter,
to individual L1 and L2/L5 SAW filters to remove out-band interference, then to the PX100 GNSS
receiver chip for RTK signal processing. Using correction data from an RTK base station, the rover
PX1125R computes its position to centimeter-level accuracy relative to the base station.

SUPPORTED RTCM MESSAGES

When operating in rover mode, PX1125R can decode following RTCM 3.3 messages:

RTCM Message Type Description

1005 Stationary RTK reference station antenna reference point
1006 Stationary RTK reference station ARP with antenna height
1033 Receiver and antenna description
1074 GPS MSM4
1075 GPS MSM5
1076 GPS MSM6
1077 GPS MSM7
1094 Galileo MSM4
1095 Galileo MSM5
1096 Galileo MSM6
1097 Galileo MSM7
1114 QZSS MSM4
1115 QZSS MSM5
1116 QZSS MSM6
1117 QZSS MSM7
1124 BeiDou MSM4
1125 BeiDou MSM5
1126 BeiDou MSM6
1127 BeiDou MSM7
1134 NavIC MSM4
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 1135 NavIC MSM5
1136 NavIC MSM6
1137 NavIC MSM7

When operating in base mode, PX1125R can output following RTCM 3.3 messages:

RTCM Message Type Description

1005 Stationary RTK reference station antenna reference point
1074 GPS MSM4
1077 GPS MSM7
1094 Galileo MSM4
1097 Galileo MSM7
1114 QZSS MSM4
1117 QZSS MSM7
1124 BeiDou MSM4
1127 BeiDou MSM7
1134 NavIC MSM4
1137 NavIC MSM7

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MECHANICAL CHARACTERISTICS

PINOUT DESCRIPTION

Pin No. Name Description

No connection for normal use. Pull-low for loading firmware into empty or
1 BOOT_SEL
corrupted Flash memory from ROM mode.
2 SPI_MISO Not used, leave unconnected

3 1PPS One-pulse-per-second (1PPS) time mark output, 3.3V LV-TTL. The rising edge
synchronized to UTC second when getting 3D position fix. The pulse duration is
about 100msec at rate of 1 Hz.
4 ODO External trigger input for generating STI,005 time stamp, 3.3V LV-TTL
5 NC No connection, empty pin
6 RXD2 UART serial data input, 3.3V LVTTL.
One simplex asynchronous serial UART port is implemented. This UART input is
normally for sending RTCM-SC104 correction data or base station SkyTraq raw
measurement data to the receiver at 115200 baud rate. In the idle condition,
this pin should be driven HIGH. If the driving circuitry is powered independently
of PX1125R, ensure that this pin is not driven to HIGH when PX1125R is put to
sleep, or a 10K-ohm series resistor can be added to minimize leakage current.
7 NC No connection, empty pin
8 RSTN External active-low reset input to the baseband.
Only needed when power supply rise time is very slow or software controlled
reset is desired.
9 SPI_CSN Not used, leave unconnected

10 GND Ground

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 11 RF input with 3.3V active antenna bias voltage
RF_IN
12 GND Ground
13 GND Ground
14 SPI_MOSI Not used, leave unconnected

15 DIR/TRIG Not used, leave unconnected

16 SPI_CLK Not used, leave unconnected
17 NC No connection, empty pin

18 SDA Not used, leave unconnected

19 SCL Not used, leave unconnected
20 TXD UART serial data output, 3.3V LVTTL.
One full-duplex asynchronous serial UART port is implemented. This UART
output is normally used for sending position, time and velocity information
from the receiver in NMEA-0183 format. When idle, this pin output HIGH.
21 RXD UART serial data input, 3.3V LVTTL.
One full-duplex asynchronous serial UART port is implemented. This UART input
is normally for sending commands or information to the receiver in SkyTraq
binary protocol. In the idle condition, this pin should be driven HIGH. If the
driving circuitry is powered independently of PX1125R, ensure that this pin is
not driven to HIGH when PX1125R is put to sleep, or a 10K-ohm series resistor
can be added to minimize leakage current.
22 V_BCKP Backup supply voltage for internal RTC and backup SRAM, 1.3V ~ 3.6V. V_BCKP
must be applied whenever VCC is applied. This pin should be powered
continuously to minimize the startup time. If VCC and V_BCKP are both
removed, the receiver will be in factory default mode upon power up, all user
configuration set is lost. For applications the does not care cold starting every
time, this pin can be connect to VCC.
23 VCC Power supply, 3.3V DC

24 GND Digital ground

ELECTRICAL SPECIFICATIONS

ABSOLUTE MAXIMUM RATINGS

Parameter Minimum Maximum Condition
Supply Voltage (VCC) -0.5 3.6 Volt
Backup Battery Voltage (V_BCKP) -0.5 3.6 Volt
Input Pin Voltage -0.5 VCC+0.5 Volt
Input Power at RF_IN +5 dBm
Storage Temperature -55 +100 degC

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OPERATING CONDITIONS
Parameter Min Typ Max Unit
Supply Voltage (VCC) 3 3.3 3.6 Volt
Acquisition Current (exclude active antenna current) 115 mA
Tracking Current (exclude active antenna current) 95 mA
Backup Voltage (V_BCKP) 1.3 3.6 Volt
Backup Current (VCC voltage applied) 54 uA
Backup Current (VCC voltage off) 13 uA
Output Low Voltage 0.4 Volt
Output HIGH Voltage 2.4 Volt
Input LOW Voltage 0.8 Volt
Input HIGH Voltage 2 Volt
Input LOW Current -10 10 uA
Input HIGH Current -10 10 uA
RF Input Impedance (RF_IN) 50 Ohm

APPLICATION CIRCUIT

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For Precise Positioning, Rover Mode Configuration 1

For Precise Positioning, Rover Mode Configuration 2

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For Precise Heading, Moving Base Mode Configuration

For Precise Positioning & Heading, Advanced Moving Base Mode Configuration #1

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For Precise Positioning & Heading, Advanced Moving Base Mode Configuration #2

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PRECOMMENDED LAYOUT PAD

RECOMMANDED REFLOW PROFILE

The reflow profile shown above should not be exceeded, since excessive temperatures or transport times during
reflow can damage the module. Cooling temperature fall rate: max 3°C / sec

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ANTENNA CONSIDERATIONS

The PX1125R is designed to be used with GPS L1/L5, Galileo E1/E5a, BDS B1I/B2a multi-frequency active antenna.
Antenna with gain up to 40dB and noise figure less than 2dB can be used. It is important to select a high-performance
antenna to achieve optimal RTK performance.

POWER SUPPLY REQUIREMENT

PX1125R requires a stable power supply, avoid ripple on VCC pin (<50mVpp). Power supply noise can affect the
receiver’s sensitivity. Bypass capacitors should be placed close to the module VCC pin, with values adjusted depending
on the amount and type of noise present on the supply line.

BACKUP SUPPLY

The purpose of backup supply voltage pin (V_BCKP) is to keep the SRAM memory and the RTC powered when the
module is powered down. This enables the module to have a faster time-to-first-fix when the module is powered on
again. The backup current drain is less than 55μA. In normal powered on state, the internal processor access the SRAM
and current drain is higher in active mode

1PPS OUTPUT

A 1 pulse per second signal (100msec HIGH duration) is generated on 1PPS pin when the receiver has 3D position fix
using 4 or more satellites. The rising edge of the pulse is aligned with UTC second, with accuracy of about 10nsec. It
outputs constant LOW when no position fix is available initially.

LAYOUT GUIDELINES

Separate RF and digital circuits into different PCB regions.

It is necessary to maintain 50-ohm impedance throughout the entire RF signal path. Try keeping the RF signal path as
short as possible.

Do not route the RF signal line near noisy sources such as digital signals, oscillators, switching power supplies, or other
RF transmitting circuit. Do not route the RF signal under or over any other components (including PX1125R), or other
signal traces. Do not route the RF signal path on an inner layer of a multi-layer PCB to minimize signal loss.

Avoid sharp bends for RF signal path. Make two 45-deg bends or a circular bend instead of a single 90-degree bend if
needed.

Avoid vias with RF signal path whenever possible. Every via adds inductive impedance. Vias are acceptable for
connecting the RF grounds between different layers. Each of the module’s ground pins should have short trace tying
immediately to the ground plane below through a via.

The bypass capacitors should be low ESR ceramic types and located directly adjacent to the pin they are for.

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HANDLING GUIDELINE

The PX1125R modules are rated MSL4, must be used for SMT reflow mounting within 72 hours after taken out from
the vacuumed ESD-protective moisture barrier bag in factory condition < 30degC / 60% RH. If this floor life time is
exceeded, or if the received ESD-protective moisture barrier bag is not in vacuumed state, then the device need to be
pre-baked before SMT reflow process. Baking is to be done at 85degC for 8 to 12 hours. Once baked, floor life counting
begins from 0, and has 72 hours of floor life at factory condition < 30degC / 60% RH.

PX1125R module is ESD sensitive device and should be handled with care.

RTK Usage Guideline

Below conditions are required for getting RTK fix solution. If the conditions are not met, PX1125R will only have float
or DGPS/3D solution and behave like a normal GNSS receiver.

* Base and rover distance under 30Km

* Open sky environment without interference
* Signal over 37dB/Hz
* 8 or more satellites above 15 degree elevation angle with good satellite geometry or low DOP value; generally more
satellites will have faster RTK fix

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 NMEA Output Description

The output protocol supports NMEA-0183 standard. The implemented messages include GGA, GLL, GSA, GSV, VTG,
RMC, ZDA and GNS messages. The NMEA message output has the following sentence structure:

$aaccc,c–c*hh<CR><LF>

The detail of the sentence structure is explained in Table 1.

Table 1: The NMEA sentence structure

character HEX Description
“$” 24 Start of sentence.
Aaccc Address field. “aa” is the talker identifier. “ccc” identifies the sentence type.
“,” 2C Field delimiter.
C–c Data sentence block.
“*” 2A Checksum delimiter.
Hh Checksum field.
<CR><LF> 0D0A Ending of sentence. (carriage return, line feed)

Table 2: Overview of SkyTraq receiver’s NMEA messages

$GPGGA Time, position, and fix related data of the receiver.
$GNGLL Position, time and fix status.
$GNGSA Used to represent the ID’s of satellites which are used for position fix. When GPS satellites are used for
position fix, $GNGSA sentence is output with system ID 1. When GLONASS satellites are used for
position fix, $GNGSA sentence is output with system ID 2. When Galileo satellites are used for position
fix, $GNGSA sentence is output with system ID 3. When BDS satellites are used for position fix,
$GNGSA sentence is output with system ID 4. When NAVIC satellites are used for position fix, $GNGSA
sentence is output with system ID 6.
$GPGSV Satellite information about elevation, azimuth and CNR, $GPGSV is used for GPS satellites, $GLGSV is
$GLGSV used for GLONASS satellites, $GAGSV is used for GALILEO satellites, while $GBGSV is used for BDS
$GAGSV satellites, while $GIGSV is used for NAVIC satellites
$GBGSV
$GIGSV
$GNRMC Time, date, position, course and speed data.
$GNVTG Course and speed relative to the ground.
$GNZDA UTC, day, month and year and time zone.
$GNTHS True Heading and Status.

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The formats of the supported NMEA messages are described as follows:

GGA – Global Positioning System Fix Data

Time, position and fix related data for a GPS receiver.

Structure:
$GPGGA,hhmmss.sss,ddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10 11 12

Example:
$GPGGA,072120.000,2447.0913289,N,12100.5212111,E,4,27,0.5,94.715,M,19.600,M,2.000,0000*49<CR><LF>

Field Name Example Description

1 UTC Time 072120.000 UTC of position in hhmmss.sss format, (000000.000 ~ 235959.999)
2 Latitude 2447.0913289Latitude in ddmm.mmmmmmm format
Leading zeros transmitted
3 N/S Indicator N Latitude hemisphere indicator, ‘N’ = North, ‘S’ = South
4 Longitude 12100.5212111 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted
5 E/W Indicator E Longitude hemisphere indicator, ‘E’ = East, ‘W’ = West
6 GPS quality 4 GPS quality indicator
indicator 0: position fix unavailable
1: valid position fix, SPS mode
2: valid position fix, differential GPS mode
3: GPS PPS Mode, fix valid
4: Real Time Kinematic. System used in RTK mode with fixed integers
5: Float RTK. Satellite system used in RTK mode., floating integers
6: Estimated (dead reckoning) Mode
7: Manual Input Mode
8: Simulator Mode
7 Satellites Used 27 Number of satellites in use, (00 ~ 12)
8 HDOP 0.5 Horizontal dilution of precision, (0.0 ~ 99.9)
9 Altitude 94.715 mean sea level (geoid), (-9999.9 ~ 17999.9)
10 Geoidal Separation 19.600 Geoidal separation in meters
11 Age pf Differential 2.000 Age of Differential
GPS data NULL when not in RTK fix or RTK float
12 DGPS Station ID 0000 Differential reference station ID, 0000 ~ 1023
13 Checksum 49

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GLL – Latitude/Longitude
Latitude and longitude of current position, time, and status.

Structure:
$GNGLL,ddmm.mmmmmmm,a,dddmm.mmmmmmm,a,hhmmss.sss,A,a*hh<CR><LF>
1 2 3 4 5 67 8

Example:
$GNGLL,2447.0913289,N,12100.5212111,E,072120.000,A,D*4E<CR><LF>

Field Name Example Description

1 Latitude 2447.0913289 Latitude in ddmm.mmmmmmm format
Leading zeros transmitted
2 N/S Indicator N Latitude hemisphere indicator
‘N’ = North
‘S’ = South
3 Longitude 12100.5212111 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted
4 E/W Indicator E Longitude hemisphere indicator
‘E’ = East
‘W’ = West
5 UTC Time 072120.000 UTC time in hhmmss.sss format (000000.000 ~ 235959.999)
6 Status A Status, ‘A’ = Data valid, ‘V’ = Data not valid
7 Mode Indicator D Mode indicator
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
‘M’ = Manual input mode
‘S’ = Simulator mode
‘N’ = Data not valid
8 Checksum 4E

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GSA – GNSS DOP and Active Satellites
GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA or GNS sentence and
DOP values.

Structure:
$GNGSA,A,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x,x*hh<CR><LF>
1 2 3 3 3 3 3 3 3 3 3 3 3 3 4 5 6 7 8

Example:
$GNGSA,A,3,02,05,06,12,13,19,20,193,195,199,,,1.0,0.5,0.9,1*01<CR><LF>
$GNGSA,A,3,03,05,09,36,,,,,,,,,1.0,0.5,0.9,3*34<CR><LF>
$GNGSA,A,3,06,07,08,09,10,19,22,29,35,38,39,40,1.0,0.5,0.9,4*38<CR><LF>
$GNGSA,A,3,44,,,,,,,,,,,,1.0,0.5,0.9,4*39<CR><LF>
$GNGSA,A,3,02,03,,,,,,,,,,,1.1,0.5,1.0,6*33<CR><LF>

Field Name Example Description

1 Mode A Mode
‘M’ = Manual, forced to operate in 2D or 3D mode
‘A’ = Automatic, allowed to automatically switch 2D/3D
2 Mode 3 Fix type
1 = Fix not available
2 = 2D
3 = 3D
3 Satellite used 1~12 02,05,06,12,13,1 01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 193
9,20,193,195,19 ~ 197 are for QZSS; 65 ~ 88 are for GLONASS (GL PRN) ; 01 ~ 36
9 are for GALILEO (GA PRN); 01 ~ 37 are for BDS (BD PRN). GPS,
GLONASS, GALILEO and BDS satellites are differentiated by the
GNSS system ID in table 3. Maximally 12 satellites are included
in each GSA sentence.
4 PDOP 1.0 Position dilution of precision (0.0 to 99.9)
5 HDOP 0.5 Horizontal dilution of precision (0.0 to 99.9)
6 VDOP 0.9 Vertical dilution of precision (0.0 to 99.9)
7 GNSS System ID 1 GNSS system ID*
1 = GPS
2 = GLONASS
3 = GALILEO
4 = BDS
5 = IRNSS
8 Checksum 01

*GNSS System ID identifies the GNSS system ID according to Table 3.

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*GNSS Signal ID identifies the GNSS signal name according to Table 3.

Table 3: GNSS Identification Table for GSA, GSV

System System ID (Talker) Signal ID Signal Name
GPS 1 (GP) 0 All signals
1 L1 C/A
2 L1 P(Y)
3 L1C
4 L2 P(Y)
5 L2C-M
6 L2C-L
7 L5-I
8 L5-Q
GLONASS 2 (GL) 0 All signals
1 G1 C/A
2 G1P
3 G2 C/A
4 GLONASS (M) G2P
GALILEO 3 (GA) 0 All signals
1 E5a
2 E5b
3 E5 a+b
4 E6-A
5 E6-BC
6 L1-A
7 L1-BC
BDS 4 (BD) 0 All signals
1 B1
5 B2A
B B2
8 B3
3 B1C
IRNSS 6 (GI) 0 All signals
1 L5

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GSV – GNSS Satellites in View
Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR value. Four satellites maximum per
transmission.

Structure:
$GPGSV,x,x,xx,xx,xx,xxx,xx,…,xx,xx,xxx,xx,x *hh<CR><LF>
1 2 3 4 5 6 7 4 5 6 7 8 9

Example:
$GPGSV,3,1,11,195,73,125,46,193,71,078,46,199,60,166,41,02,56,002,46,1*59<CR><LF>
$GPGSV,3,2,11,11,54,011,45,20,53,298,47,06,46,061,45,05,40,268,45,1*6F<CR><LF>
$GPGSV,3,3,11,19,36,148,45,13,27,186,41,12,23,260,43,1*59<CR><LF>
$GPGSV,1,1,04,195,73,125,44,193,71,078,43,199,60,166,45,06,46,061,45,8*56<CR><LF>
$GAGSV,2,1,07,05,74,099,45,18,58,157,48,36,48,080,43,03,39,201,43,7*70<CR><LF>
$GAGSV,2,2,07,09,29,043,36,02,10,211,,11,07,112,,7*40<CR><LF>
$GAGSV,2,1,05,05,74,099,43,18,58,157,46,36,48,080,42,03,39,201,43,1*7D<CR><LF>
$GAGSV,2,2,05,09,29,043,37,1*41<CR><LF>
$GBGSV,4,1,13,35,78,358,50,22,60,245,50,19,58,025,48,38,53,351,46,1*75<CR><LF>
$GBGSV,4,2,13,08,49,356,41,29,43,129,47,06,36,170,42,40,35,211,44,1*74<CR><LF>
$GBGSV,4,3,13,10,35,224,43,39,31,181,44,07,28,198,42,44,25,322,40,1*7C<CR><LF>
$GBGSV,4,4,13,09,16,189,37,1*4E<CR><LF>
$GBGSV,2,1,08,35,78,358,43,22,60,245,45,19,58,025,44,38,53,351,42,5*73<CR><LF>
$GBGSV,2,2,08,29,43,129,42,40,35,211,41,39,31,181,40,44,25,322,36,5*7A<CR><LF>
$GIGSV,2,1,07,03,37,239,44,02,25,278,41,04,00,000,44,09,00,000,33,1*76<CR><LF>
$GIGSV,2,2,07,07,00,000,46,05,00,000,45,01,00,000,39,1*40<CR><LF>

Field Name Example Description

1 Number of message 3 Total number of GSV messages to be transmitted (1-5)
2 Sequence number 1 Sequence number of current GSV message
3 Satellites in view 11 Total number of satellites in view (00 ~ 20)
4 Satellite ID 195 01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 193
~ 197 are for QZSS; 65 ~ 88 are for GLONASS (GL PRN) ; 01 ~ 36
are for GALILEO (GA PRN); 01 ~ 37 are for BDS (BD PRN). GPS,
GLONASS, GALILEO and BDS satellites are differentiated by the
GNSS system ID in table 3. Maximally 4 satellites are included in
each GSV sentence.
5 Elevation 73 Satellite elevation in degrees, (00 ~ 90)
6 Azimuth 125 Satellite azimuth angle in degrees, (000 ~ 359 )
7 SNR 46 C/No in dB (00 ~ 99)
Null when not tracking
8 Signal ID 1 Signal ID*
9 Checksum 59

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RMC – Recommended Minimum Specific GNSS Data
Time, date, position, course and speed data provided by a GNSS navigation receiver.

Structure:
$GPRMC,hhmmss.sss,A,dddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x,x.x,ddmmyy,,,a,a*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10 11 12
Example:
$GNRMC,072120.000,A,2447.0913289,N,12100.5212111,E,000.0,000.0,050721,,,R,V*14<CR><LF>

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.sss format (000000.00 ~ 235959.999)
2 Status A Status
‘V’ = Navigation receiver warning
‘A’ = Data Valid
3 Latitude 2447.0913289 Latitude in dddmm.mmmmmmm format
Leading zeros transmitted
4 N/S indicator N Latitude hemisphere indicator
‘N’ = North
‘S’ = South
5 Longitude 12100.5212111 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted
6 E/W Indicator E Longitude hemisphere indicator
‘E’ = East
‘W’ = West
7 Speed over ground 000.0 Speed over ground in knots (000.0 ~ 999.9)
8 Course over ground 000.0 Course over ground in degrees (000.0 ~ 359.9)
9 UTC Date 050721 UTC date of position fix, ddmmyy format
10 Mode indicator R Mode indicator
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
‘F’ = Float RTK. Satellite system used in RTK mode, floating
integers
‘M’ = Manual Input Mode
‘N’ = Data not valid
‘P’ = Precise
‘R’ = Real Time Kinematic. System used in RTK mode with fixed
integers
‘S’ = Simulator Mode
11 Navigation status V Navigation status indicator according to IEC61108 requirement
on ‘Navigational (or Failure) warnings and status indicators’.
‘S’ = Safe
‘C’ = Caution
‘U’ = Unsafe
‘V’ = Navigation status not valid, equipment is not providing
navigation status indicator.
12 checksum 14

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VTG – Course Over Ground and Ground Speed
The actual course and speed relative to the ground.

Structure:
GPVTG,x.x,T,,M,x.x,N,x.x,K,a*hh<CR><LF>
1 2 3 4 5

Example:
$GNVTG,000.0,T,,M,000.0,N,000.0,K,D*16<CR><LF>

Field Name Example Description

1 Course 000.0 True course over ground in degrees (000.0 ~ 359.9)
2 Speed 000.0 Speed over ground in knots (000.0 ~ 999.9)
3 Speed 000.0 Speed over ground in kilometers per hour (000.0 ~ 1800.0)
4 Mode D Mode indicator
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
‘M’ = Manual input mode
‘N’ = Data not valid
‘P’ = Precise
‘S’ = Simulator mode
5 Checksum 16

ZDA – TIME AND DATE

UTC, day, month, year and local time zone

Structure:
$GPZDA,hhmmss.sss,xx,xx,xxxx,xx,xx*hh<CR><LF>
1 2 3 4 5 6 7

Example:
$GNZDA,072120.000,05,07,2021,00,00*4D<CR><LF>

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.ss format (000000.00 ~ 235959.999)
2 UTC Day 05 UTC time: day (01 ~ 31)
3 UTC Month 07 UTC time: month (01 ~ 12)
4 UTC Year 2021 UTC time: year (4 digit format)
5 Local zone hour 00 Local zone hours (00 ~ +/- 13)
6 Local zone minutes 00 Local zone minutes (00 ~59)
7 Checksum 4D Checksum

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THS – True Heading and Status
Actual vessel heading in degrees True produced by any device or system producing true heading. This sentence
includes a “Mode indicator” field providing critical safety related information about the heading data, and replaces the
HDT sentence.

Structure:
$GPTHS, x.x,a*hh<CR><LF>
1 2 3

Example:
$GNTHS, 349.10.A*34<CR><LF>

Field Name Example Description

1 Heading 349.10 Heading, degrees True
2 Mode A Mode indicator
‘A’ = Autonomous
‘E’ = Estimated (dead reckoning)
‘M’ = Manual input
‘S’ = Simulator
‘V’ = Data not valid
3 Checksum 34 Checksum

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STI,005 – Time Stamp Output

An output message, ID 0x005, contains module pin-4 event-triggered time stamp. The trigger input should be spaced
more than 1msec apart, not more than 10 triggers between update rate interval.

Structure:
$PSTI,005,hhmmss.sssssss,xx,xx,xxxx,,,,,*hh<CR><LF>
1 2 3 4 5 11

Example:
$PSTI,005,072120.0000003,05,07,2021,,,,,*33<CR><LF>

Field Name Example Description

1 ID 005 Proprietary NMEA message identifier
2 UTC time 072120.0000003 Time-stamp UTC time in hhmmss.sssssss format
(000000.0000000 ~ 235959.9999999)
3 UTC Day 05 Time-stamp UTC time: day (01 ~ 31)
4 UTC Month 07 Time-stamp UTC time: month (01 ~ 12)
5 UTC Year 2021 Time-stamp UTC time: year (4 digit format)
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Checksum 33 Checksum

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STI,030– Recommended Minimum 3D GNSS Data
Time, date, position, course and speed data provided by a GNSS navigation receiver.

Structure:
$PSTI,030,hhmmss.sss,A,dddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x,x.x,x.x,x.x,ddmmyy,a.x.x,x.x*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Example:
$PSTI,030,072120.000,A,2447.0913289,N,12100.5212111,E,94.715,0.00,-0.00,0.02,050721,R,2.000,10.000*28
<CR><LF>

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.sss format (000000.00 ~ 235959.999)
2 Status A Status
‘V’ = Navigation receiver warning
‘A’ = Data Valid
3 Latitude 2447.0913289 Latitude in dddmm.mmmmmmm format
Leading zeros transmitted
4 N/S indicator N Latitude hemisphere indicator
‘N’ = North
‘S’ = South
5 Longitude 12100.5212111 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted
6 E/W Indicator E Longitude hemisphere indicator
‘E’ = East
‘W’ = West
7 Altitude 94.715 mean sea level (geoid), (-9999.999 ~ 17999.999)
8 East Velocity 0.00 ‘East’ component of ENU velocity (m/s)
9 North Velocity -0.00 ‘North’ component of ENU velocity (m/s)
10 Up Velocity 0.02 ‘Up’ component of ENU velocity (m/s)
11 UTC Date 050721 UTC date of position fix, ddmmyy format
12 Mode indicator R Mode indicator
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
‘F’ = Float RTK. Satellite system used in RTK mode, floating
integers
‘M’ = Manual input mode
‘N’ = Data not valid
‘P’ = Precise
‘R’ = Real Time Kinematic. System used in RTK mode with fixed
integers
‘S’ = Simulator mode
13 RTK Age 2.000 Age of differential
14 RTK Ratio 10.000 AR ratio factor for validation
15 Checksum 28

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STI,032– RTK Baseline Data
Time, date, status and baseline related data provided by a GNSS navigation receiver.

Structure:
$PSTI,032,hhmmss.sss,ddmmyy,A,R,x.xxx,x.xxx,x.xxx,x.xxx,x.xx,,,,,*hh<CR><LF>
1 2 3 4 5 6 7 8 9
Example:
$PSTI,032,072120.000,050721,A,R,-1.821,9.457,0.634,9.651,349.10,,,,,*3A

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.sss format (000000.000~235959.999)
2 UTC Date 050721 UTC date of position fix, ddmmyy format
Status
3 Status A ‘V’ = Void
‘A’ = Active
Mode indicator
‘F’ = Float RTK. System used in RTK mode with float ambiguity
4 Mode indicator R
‘R’ = Real Time Kinematic. System used in RTK mode with fixed
ambiguity
East-projection of
5 -1.821 East-projection of baseline, meters
baseline
North-projection of
6 9.457 North-projection of baseline, meters
baseline
Up-projection of
7 0.634 Up-projection of baseline, meters
baseline
8 Baseline length 9.651 Baseline length, meters
Baseline course (angle between baseline vector and north
9 Baseline course 349.10
direction), degrees
10 Reserve Reserve
11 Reserve Reserve
12 Reserve Reserve
13 Reserve Reserve
14 Reserve Reserve
15 Checksum 3A

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STI,033– RTK RAW Measurement Monitoring Data
Time, date, and raw measurement monitoring data provided by a GNSS navigation receiver.

Structure:
$PSTI,033,hhmmss.sss,ddmmyy,x,R,x,G,x,x,,,C,x,x,,,E,x,x,,,R,,,,,I,x,,,*hh <CR><LF>
1 2 3 4 56 78 11 16 21
Example:
$PSTI,033,072120.000,050721,2,R,0,G,0,0,,,C,0,0,,,E,0,0,,,R,,,,,I,0,,,*27

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.sss format (000000.000~235959.999)
2 UTC Date 050721 UTC date of position fix, ddmmyy format
3 Version 2
4 Receiver R R – Rover; B – Base
Number of total cycle-slipped Number of total cycle-slipped raw measurements, this statistic
5 0
raw measurements is only summed by the measurements which are valid for RTK
6 Designate system type G GPS
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
7 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of GPS L1 measurements which are valid for RTK
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
8 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of GPS L2 measurements which are valid for RTK
Reserve for GPS frequency
9 Reserve
band
Reserve for GPS frequency
10 Reserve
band
11 Designate system type C BDS
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
12 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of BDS B1 measurements which are valid for RTK
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
13 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of BDS B2 measurements which are valid for RTK
Reserve for BDS frequency
14 Reserve
band
Reserve for BDS frequency
15 Reserve
band
16 Designate system type E Galileo
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
17 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of Galileo E1 measurements which are valid for RTK
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
18 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of Galileo E5b measurements which are valid for RTK
Reserve for Galileo frequency
19 Reserve
band
Reserve for Galileo frequency
20 Reserve
band
21 Designate system type R Glonass
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
22 measurements of designate type of all satellite type, this statistic is only summed by the
signal type of Glonass G1 measurements which are valid for RTK
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
23 measurements of designate type of all satellite type, this statistic is only summed by the
signal type of Glonass G2 measurements which are valid for RTK

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 Reserve for Glonass
24 Reserve
frequency band
Reserve for Glonass
25 Reserve
frequency band
26 Designate system type I NAVIC
Number of cycle-slipped raw Number of cycle-slipped raw measurements of designate signal
27 measurements of designate 0 type of all satellite type, this statistic is only summed by the
signal type of NAVIC L5 measurements which are valid for RTK
28 Reserve Reserve
29 Reserve Reserve
20 Reserve Reserve
31 Checksum 27

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STI,035 – RTK Baseline Data of Rover Moving Base Receiver
Time, date, status and baseline related data of GNSS rover moving base receiver provided by GNSS precisely kinematic
base receiver.

Structure:
$PSTI,035,hhmmss.sss,ddmmyy,A,R,x.xxx,x.xxx,x.xxx,x.xxx,x.xx,,,,,*hh<CR><LF>
1 2 3 4 5 6 7 8 9

Example:
$PSTI,035,072120.000,050721,A,R,-1.821,9.457,0.634,9.651,349.10,,,,,*3D

Field Name Example Description

1 UTC time 072120.000 UTC time in hhmmss.sss format (000000.000~235959.999)
2 UTC Date 050721 UTC date of position fix, ddmmyy format
Status
3 Status A ‘V’ = Void
‘A’ = Active
Mode indicator
‘F’ = Float RTK. System used in RTK mode with float ambiguity
4 Mode indicator R
‘R’ = Real Time Kinematic. System used in RTK mode with fixed
ambiguity
East-projection of
5 -1.821 East-projection of baseline, meters
baseline
North-projection of
6 9.457 North-projection of baseline, meters
baseline
Up-projection of
7 0.634 Up-projection of baseline, meters
baseline
8 Baseline length 9.651 Baseline length, meters
Baseline course (angle between baseline vector and north
9 Baseline course 349.10
direction), degrees
10 Reserve Reserve
11 Reserve Reserve
12 Reserve Reserve
13 Reserve Reserve
14 Reserve Reserve
15 Checksum 3D

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ORDERING INFORMATION
Model Name Description
PX1125R GNSS RTK Receiver Module

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Revision History

Revision Date Description

1 July 5, 2021 Initial release
2 July 21, 2022 Added L5 NavIC support

The information provided is believed to be accurate and reliable. These materials are provided to customers and may be used for
informational purposes only. No responsibility is assumed for errors or omissions in these materials, or for its use. Changes to
specification can occur at any time without notice.

These materials are provides “as is” without warranty of any kind, either expressed or implied, relating to sale and/or use including
liability or warranties relating to fitness for a particular purpose, consequential or incidental damages, merchantability, or
infringement of any patent, copyright or other intellectual property right. No warrant on the accuracy or completeness of the
information, text, graphics or other items contained within these materials. No liability assumed for any special, indirect, incidental,
or consequential damages, including without limitation, lost revenues or lost profits, which may result from the use of these
materials.

The product is not intended for use in medical, life-support devices, or applications involving potential risk of death, personal injury,
or severe property damage in case of failure of the product.

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