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Notes on module and dual antenna installation:
1. P20D has an integrated imu, therefore the module needs to be rigidly installed with the host
vehicle. There should be no relative motion between P20D module and the master/slave antennas.
2. The default orientation when installing the module is where the arrow on the module label is
pointing (as shown in the picture below) towards the direction of the carrier's movement, with the
top of the module pointing towards the sky and the back of the module pointing towards the ground.
3. Configuration Commands exist to allow for different orientations when the above
installations can not be made.
AT + IMU_ANGLE = x,y,z for the module mounting angle configuration (you can refer to the
P20X module mounting user manual)
4. If the dual-antenna direction is not consistent with the forward direction of the vehicle, it is
necessary to adjust the dual-antenna angle to ensure that it is consistent with the direction of the
vehicle, send the command AT+YAW_ANGLE=0,0,z to configure (z is the angle of rotation,
following the right-handed coordinate system, with the thumb pointing in the positive direction of
the z-axis, and the clockwise direction is positive, and the direction of the dual-antenna is shifted
towards the direction of the vehicle movement)
Cold restart (some commands require Cold restart to take effect)
enter standby mode, n is the time (in seconds) to keep the RTC in sleep mode, the
Minimum valid time is 10 seconds, if set to 0, hardware wakeup is required.
0: statements such as GGA begin with GN, 1: begin with GP (default 0)
Default baud rate 115200, commands end in \r\n. Compatible P20M Command Format
