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2026-09-06T07:57:48Z

Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
Technical overview of the Waveshare L76K GNSS module: interfaces, parameters, NMEA/PCAS commands, and integration with common controllers.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL23721 WSAL23721 – L76K Multi-GNSS Module, Supports GPS, BDS, QZSS]

== Technical overview ==
* The L76K supports GPS, GLONASS, BeiDou (BDS) and QZSS; it uses the AT6558R chip with 32 tracking and 72 acquisition channels on L1.
* Interfaces: UART (TX/RX), PPS, reset, I²C (LC76G/L76B only), and antenna open/circuit detection.
* Power supply: 2.7–3.4 V; current draw is about 29 mA in tracking (GPS+BDS) and about 8 µA in RTC backup mode.
* Positioning accuracy: 2.0 m CEP; velocity accuracy 0.1 m/s; max update rate 5 Hz; default baud rate 9600 bps.
* NMEA-0183 output includes e.g. $GNRMC, $GNGGA, $GNGSV; prefixes such as GP=GPS, BD=BeiDou, GL=GLONASS, GA=Galileo, GN=multi-satellite system.
* PCAS commands allow configuring baud rate ($PCAS01), positioning interval ($PCAS02), NMEA output sentences ($PCAS03), satellite system selection ($PCAS04), and restart modes ($PCAS10).
* Raspberry Pi connection: TX to P15 (GPIO14), RX to P14 (GPIO8); debugging via Minicom or U-center is possible.
* Supported demos: C/Python for Raspberry Pi, Arduino, ESP32, Jetson Nano; all demos use UART communication.
* TTFF: cold start autonomous ~30 s, with AGNSS ~5.5 s; warm start ~30 s autonomous or ~5 s with EASY™; hot start ~2 s.
* Operating temperature -40 to +85 °C; storage -40 to +90 °C; weight 0.4 g; dimensions 9.7 × 10.1 × 2.4 mm (LCC package).

'''Commands and examples – verify before use:'''
<syntaxhighlight lang="text">
$PCAS01,5*19
$PCAS01,1*1D
$PCAS02,1000*2E
$PCAS03,1,1,1,1,1,1,1,1,0,0,,,0,0*02
$PCAS04,3*1A
$PCAS10,0*1C
</syntaxhighlight>

== Notes and version constraints ==
* Checksums (<Checksum>) must be recalculated after modifying any PCAS command.
* Indoor positioning is unreliable; place the module or antenna by a window or outdoors for a reliable fix.
* Cold start takes about 35 s under normal conditions; poor weather can make it longer or cause failure.
* Raw GPS coordinates are uncorrected geocoordinates (“lunar coordinates”); map applications require additional conversion depending on the provider (e.g., Baidu vs. Google).
* If position prints as 0,0 or the program hangs: place the device outdoors with the antenna facing down; positioning data should appear within 45 s of power-on.
* The 2.5 m error bound applies only in open environments with clear weather; other conditions may produce larger deviations.

== Source and revision record ==
* [https://www.waveshare.com/wiki/L76K_GPS_Module L76K GPS Module - Waveshare Wiki]
* Source revision: 89560
* Captured: 2026-09-04T03:19:49+00:00
* SHA-256: <code>1393636ecd562f6a3c2093331a0bda220726be08edb26655df93ae6f91a20dac</code>

WSAL23721 – L76K GPS Module/en - Versionsgeschichte

JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex