u-blox ZED-F9P Interface Description - Manual
Advance Information
5.14.12 UBX-NAV-RELPOSNED (0x01 0x3C)
5.14.12.1 Relative Positioning Information in NED frame
Message
UBX-NAV-RELPOSNED
Description
Relative Positioning Information in NED frame
Firmware
Supported on:
•
u-blox 9 with protocol version 27
(
only with High Precision GNSS products
)
Type
Periodic/Polled
Comment
The NED frame is defined as the local topological system at the reference station.
The relative position vector components in this message, along with their
associated accuracies, are given in that local topological system
This message contains the relative position vector from the Reference Station to the Rover,
including accuracy figures, in the local topological system defined at the reference station
Header
Class
ID
Length (Bytes)
Payload
Checksum
Message Structure
0xB5 0x62
0x01 0x3C 40
see below
CK_A CK_B
Payload Contents:
Byte Offset
Number
Format
Scaling
Name
Unit
Description
0
U1
-
version
-
Message version (0x00 for this version)
1
U1
-
reserved1
-
2
U2
-
refStationId
-
Reference Station ID. Must be in the range 0..
4095
4
U4
-
iTOW
ms
.
See the
for details.
8
I4
-
relPosN
cm
North component of relative position vector
12
I4
-
relPosE
cm
East component of relative position vector
16
I4
-
relPosD
cm
Down component of relative position vector
20
I1
0.1
relPosHPN
mm
High-precision North component of relative
position vector.
Must be in the range -99 to +99.
The full North component of the relative
position vector, in units of cm, is given by
r (relPosHPN * 1e-2)
21
I1
0.1
relPosHPE
mm
High-precision East component of relative
position vector.
Must be in the range -99 to +99.
The full East component of the relative position
vector, in units of cm, is given by
r (relPosHPE * 1e-2)
22
I1
0.1
relPosHPD
mm
High-precision Down component of relative
position vector.
Must be in the range -99 to +99.
The full Down component of the relative
position vector, in units of cm, is given by
r (relPosHPD * 1e-2)
23
U1
-
reserved2
-
24
U4
0.1
accN
mm
Accuracy of relative position North component
UBX-18010854 - R04
Advance Information
Page 153 of 259
