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u-blox ZED-F9P Interface Description - Manual

Advance Information

7 RTCM Protocol

7.1 RTCM3

7.1.1 Supported Messages

The following RTCM 3.3 input messages are supported:

Supported RTCM 3.3 Input Messages

Message Type Description

1001

L1-only GPS RTK observations

1002

Extended L1-only GPS RTK observations

1003

L1/L2 GPS RTK observations

1004

Extended L1/L2 GPS RTK observations

1005

Stationary RTK reference station ARP

1006

Stationary RTK reference station ARP with antenna height

1007

Antenna descriptor

1009

L1-only GLONASS RTK observations

1010

Extended L1-only GLONASS RTK observations

1011

L1/L2 GLONASS RTK observations

1012

Extended L1/L2 GLONASS RTK observations

1033

Receiver and antenna descriptors

1074

GPS MSM4

1075

GPS MSM5

1077

GPS MSM7

1084

GLONASS MSM4

1085

GLONASS MSM5

1087

GLONASS MSM7

1094

Galileo MSM4

1095

Galileo MSM5

1097

Galileo MSM7

1124

BeiDou MSM4

1125

BeiDou MSM5

1127

BeiDou MSM7

1230

GLONASS code-phase biases

The following RTCM 3.3 output messages are supported:

RTCM output messages are configured using the configuration items

CFG-MSGOUT-RTCM*

Supported RTCM 3.3 Output Messages

Message Type

Cls/ID

Description

1005

0xF5 0x05 Stationary RTK reference station ARP

1074

0xF5 0x4A GPS MSM4

1077

0xF5 0x4D GPS MSM7

1084

0xF5 0x54 GLONASS MSM4

1087

0xF5 0x57 GLONASS MSM7

1094

0xF5 0x5E Galileo MSM4

1097

0xF5 0x61 Galileo MSM7

1124

0xF5 0x7C BeiDou MSM4

UBX-18010854 - R04

Advance Information

Page 237 of 259

Summary of Contents for ZED-F9P

Page 1: ...escription Abstract The Interface Description describes the UBX version 27 00 NMEA and RTCM protocols and serves as a reference manual for the u blox ZED F9P high precision positioning receiver www u...

Page 2: ...duct specification u blox reserves all rights to this document and the information contained herein Products names logos and designs described herein may in whole or in part be subject to intellectual...

Page 3: ...orted Protocol Versions 3 3 Receiver Configuration 3 Interface Description 6 4 NMEA Protocol 6 4 1 Protocol Overview 6 4 1 1 Message Format 6 4 1 2 Talker ID 6 4 1 3 Protocol Configuration 7 4 1 4 Sat...

Page 4: ...CFG ANT 0x06 0x13 38 5 9 2 UBX CFG CFG 0x06 0x09 39 5 9 3 UBX CFG DAT 0x06 0x06 41 5 9 4 UBX CFG DGNSS 0x06 0x70 43 5 9 5 UBX CFG DYNSEED 0x06 0x85 44 5 9 6 UBX CFG FIXSEED 0x06 0x84 44 5 9 7 UBX CFG...

Page 5: ...NG 0x21 0x0d 99 5 11 8 UBX LOG RETRIEVE 0x21 0x09 99 5 11 9 UBX LOG STRING 0x21 0x04 100 5 12 UBX MGA 0x13 101 5 12 1 UBX MGA ACK 0x13 0x60 101 5 12 2 UBX MGA BDS 0x13 0x03 102 5 12 3 UBX MGA DBD 0x13...

Page 6: ...NAV SVIN 0x01 0x3B 161 5 14 18 UBX NAV TIMEBDS 0x01 0x24 162 5 14 19 UBX NAV TIMEGAL 0x01 0x25 163 5 14 20 UBX NAV TIMEGLO 0x01 0x23 164 5 14 21 UBX NAV TIMEGPS 0x01 0x20 165 5 14 22 UBX NAV TIMELS 0...

Page 7: ...nd Filter Configuration 219 6 7 15 CFG RATE Navigation and Measurement Rate Configuration 220 6 7 16 CFG RINV Remote Inventory 221 6 7 17 CFG SIGNAL Satellite Systems GNSS Signal Configuration 221 6 7...

Page 8: ...3 Reference 238 Appendix 239 A Satellite Numbering 239 B UBX and NMEA Signal Identifiers 239 C Configuration Defaults 240 C 1 u blox 9 ZED F9P version 1 00 HPG 1 00 240 Related Documents 257 Overview...

Page 9: ...are The u blox receiver can run a firmware from two different locations Internal ROM External Flash memory The location and the version of the currently running firmware can be found in the boot scree...

Page 10: ...TSUPERV AC SD PDoS SR Configuration of the Antenna supervisor where AC Active Antenna Control enabled SD Short Circuit Detection enabled OD Open Circuit Detection enabled PDoS Short Circuit Power Down...

Page 11: ...are of Time Frequency Sync product PROTVER 27 00 Supported protocol version MOD ZED F9P Module identification Set in production GPS GLO GAL BDS Supported Major GNSS SBAS IMES QZSS Supported Augmentati...

Page 12: ...hardware reset or a complete controlled software reset see chapter Forcing a Receiver Reset in the Integration Manual See the Configuration Interface section for a detailed description of the receiver...

Page 13: ...u blox ZED F9P Interface Description Manual A d v a n c e I n f o r m a t i o n UBX 18010854 R04 Advance Information Page 5 of 259...

Page 14: ...o be added These shall be marked with a manufacturer mnemonic The mnemonic assigned to u blox is UBX and is used for all non standard messages These proprietary NMEA messages therefore have the addres...

Page 15: ...icate that the data is not valid Time filtering Enable to permit the receiver s best knowledge of time to be output even though it might be wrong Date filtering Enable to permit the receiver s best kn...

Page 16: ...stemId GSV signalId RMC navStatus 4 1 4 Satellite Numbering The NMEA protocol V4 1 identifies GNSS satellites with a one digit system ID and a two digit satellite number u blox receivers support this...

Page 17: ...ing fix A 6 E E RTK float A 5 D F RTK fixed A 4 D R 2D GNSS fix A 1 2 A D A D 3D GNSS fix A 1 2 A D A D Combined GNSS dead reckoning fix A 1 2 A D A D See below 1 See below 2 See below 3 See below 3 1...

Page 18: ...iver GSV Talker IDs The GSV message reports the signal strength of the visible satellites However the Talker ID it uses is specific to the GNSS it is reporting information for so for a multi GNSS rece...

Page 19: ...ndard message if the current Talker ID is GL 17 GNQ 0xF0 0x42 Poll a standard message if the current Talker ID is GN 18 GNS 0xF0 0x0D GNSS fix data 19 GPQ 0xF0 0x40 Poll a standard message if the curr...

Page 20: ...0xF0 0x0A 11 Message Structure xxDTM datum subDatum lat NS lon EW alt refDatum cs CR LF Example GPDTM W84 0 0 N 0 0 E 0 0 W84 6F GPDTM 999 0 08 N 0 07 E 47 7 W84 1C Field No Name Unit Format Example D...

Page 21: ...irmware Supported on u blox 9 with protocol version 27 Type Output Message Comment This message outputs the results of the Receiver Autonomous Integrity Monitoring Algorithm RAIM The fields errLat err...

Page 22: ...nal Identifiers table for other values NMEA v4 1 and above only 11 cs hexadecimal 5B Checksum 12 CR LF character Carriage return and line feed 4 2 4 GGA 4 2 4 1 Global positioning system fix data Mess...

Page 23: ...Number of satellites used range 0 12 8 HDOP numeric 1 01 Horizontal Dilution of Precision 9 alt m numeric 499 6 Altitude above mean sea level 10 uAlt character M Altitude units meters fixed field 11...

Page 24: ...00833 91565 E 092321 00 A A 60 Field No Name Unit Format Example Description 0 xxGLL string GPGLL GLL Message ID xx current Talker ID 1 lat ddmm mmmmm 4717 11364 Latitude degrees minutes see format de...

Page 25: ...ssage ID of the message to be polled 2 cs hexadecimal 3A Checksum 3 CR LF character Carriage return and line feed 4 2 7 GNQ 4 2 7 1 Poll a standard message if the current Talker ID is GN Message GNQ D...

Page 26: ...resentation 2 lat ddmm mmmmm 5114 50897 Latitude degrees minutes see format description 3 NS character N North South indicator 4 long dddmm mmmmm 00012 28663 Longitude degrees minutes see format descr...

Page 27: ...character Carriage return and line feed 4 2 10 GRS 4 2 10 1 GNSS Range Residuals Message GRS Description GNSS Range Residuals Firmware Supported on u blox 9 with protocol version 27 Type Output Messag...

Page 28: ...ition given in the matching GGA sentence 1 Residuals were recomputed after the GGA position was computed 4 2 11 GSA 4 2 11 1 GNSS DOP and Active Satellites Message GSA Description GNSS DOP and Active...

Page 29: ...ksum 20 CR LF character Carriage return and line feed Table Operation Mode Operation Mode Description M Manually set to operate in 2D or 3D mode A Automatically switching between 2D or 3D mode Table N...

Page 30: ...and line feed 4 2 13 GSV 4 2 13 1 GNSS Satellites in View Message GSV Description GNSS Satellites in View Firmware Supported on u blox 9 with protocol version 27 Type Output Message Comment The numbe...

Page 31: ...ended Minimum data Firmware Supported on u blox 9 with protocol version 27 Type Output Message Comment The output of this message is dependent on the currently selected datum default WGS84 The recomme...

Page 32: ...3 and above only 13 navStatu s character V Navigational status indicator V Equipment is not providing navigational status information NMEA v4 1 and above only 14 cs hexadecimal 57 Checksum 15 CR LF c...

Page 33: ...ance Firmware Supported on u blox 9 with protocol version 27 Type Output Message Comment The distance traveled relative to the water and over the ground This message relates to the Odometer functional...

Page 34: ...s N kph K posMode cs CR LF Example GPVTG 77 52 T M 0 004 N 0 008 K A 06 Field No Name Unit Format Example Description 0 xxVTG string GPVTG VTG Message ID xx current Talker ID 1 cogt degr ees numeric 7...

Page 35: ...ntation 2 day day dd 16 UTC day range 1 31 3 month mon th mm 09 UTC month range 1 12 4 year year yyyy 2002 UTC year 5 ltzh xx 00 Local time zone hours fixed to 00 6 ltzn zz 00 Local time zone minutes...

Page 36: ...cture packing is not a problem This means that 2 byte values shall start on offsets which are a multiple of 2 4 byte values shall start at a multiple of 4 and so on 5 3 2 Reserved Elements Some messag...

Page 37: ...tes Comment Min Max Resolution U1 Unsigned Char 1 0 255 1 RU1_3 Unsigned Char 1 binary floating point with 3 bit exponent eeeb bbbb Value 0x1F Value 5 0 31 2 7 non continuous 2 Value 5 I1 Signed Char...

Page 38: ...associated with the messages being sent back and forth 5 5 1 Acknowledgement When messages from the class CFG are sent to the receiver the receiver will send an acknowledge UBX ACK ACK or a not ackno...

Page 39: ...with IDs such as Error Warning Notice ACK 0x05 Ack Nak Messages Acknowledge or Reject messages to UBX CFG input messages CFG 0x06 Configuration Input Messages Set Dynamic Model Set DOP Mask Set Baud R...

Page 40: ...et Data Logger Configuration 53 CFG MSG 0x06 0x01 2 Poll Request Poll a message configuration 53 CFG MSG 0x06 0x01 8 Get Set Set Message Rate s 54 CFG MSG 0x06 0x01 3 Get Set Set Message Rate 54 CFG N...

Page 41: ...Request Poll for log information 96 LOG INFO 0x21 0x08 48 Output Log information 97 LOG RETRIEVEPOSE 0x21 0x0f 32 Output Odometer log entry 98 LOG RETRIEVEPOS 0x21 0x0b 40 Output Position fix log ent...

Page 42: ...36 8 40 nPorts Periodic Polled Comm port information 128 MON GNSS 0x0A 0x28 8 Polled Information message major GNSS selection 130 MON HW2 0x0A 0x0B 28 Periodic Polled Extended Hardware Status 131 MON...

Page 43: ...UTC 0x01 0x21 20 Periodic Polled UTC Time Solution 169 NAV VELECEF 0x01 0x11 20 Periodic Polled Velocity Solution in ECEF 170 NAV VELNED 0x01 0x12 36 Periodic Polled Velocity Solution in NED UBX Class...

Page 44: ...r m a t i o n UBX Messages Overview continued Page Mnemonic Cls ID Length Type Description 187 UPD SOS 0x09 0x14 8 Output Backup File Creation Acknowledge 188 UPD SOS 0x09 0x14 8 Output System Restore...

Page 45: ...05 0x01 2 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 clsID Class ID of the Acknowledged Message 1 U1 msgID Message ID of the Acknowledged Message...

Page 46: ...ser to configure the antenna supervisor The antenna supervisor can be used to detect the status of an active antenna and control it It can be used to turn off the supply to the antenna in the event of...

Page 47: ...ater than 23 01 Use UBX CFG VALSET UBX CFG VALGET UBX CFG VALDEL instead See Receiver Configuration for a detailed description on how Receiver Configuration should be used The behaviour of this messag...

Page 48: ...graphic below Start of optional block 12 X1 deviceMask Mask which selects the memory devices for saving and or clearing operation Note that if a deviceMask is not provided the receiver defaults the o...

Page 49: ...M devFlash Flash devEEPROM EEPROM devSpiFlash SPI Flash 5 9 3 UBX CFG DAT 0x06 0x06 5 9 3 1 Set User defined Datum Message UBX CFG DAT Description Set User defined Datum Firmware Supported on u blox 9...

Page 50: ...to 50 0 parts per million 5 9 3 2 The currently defined Datum Message UBX CFG DAT Description The currently defined Datum Firmware Supported on u blox 9 with protocol version 27 Type Get Comment This...

Page 51: ...x06 0x70 5 9 4 1 DGNSS configuration Message UBX CFG DGNSS Description DGNSS configuration Firmware Supported on u blox 9 with protocol version 27 only with High Precision GNSS products Type Get Set C...

Page 52: ...FIXSEED 0x06 0x84 5 9 6 1 Programming the fixed seed for host interface signature Message UBX CFG FIXSEED Description Programming the fixed seed for host interface signature Firmware Supported on u b...

Page 53: ...e that the acknowledge message does not indicate whether the PIO configuration has been successfully applied pin assigned it only indicates the successful configuration of the feature The configured P...

Page 54: ...a UBX ACK NAK and continuing operation with the previous configuration Configuration requirements It is necessary for at least one major GNSS to be enabled after applying the new configuration to the...

Page 55: ...of configuration blocks following Start of repeated block numConfigBlocks times 4 8 N U1 gnssId System identifier see Satellite Numbering 5 8 N U1 resTrkCh Read only in protocol versions greater than...

Page 56: ...protocol Message UBX CFG INF Description Poll configuration for one protocol Firmware Supported on u blox 9 with protocol version 27 Type Poll Request Comment This message is deprecated in protocol v...

Page 57: ...ut messages from the module contain only one configuration unit Note that I O Ports 1 and 2 correspond to serial ports 1 and 2 I O port 0 is DDC I O port 3 is USB I O port 4 is SPI I O port 5 is reser...

Page 58: ...ted in protocol versions greater than 23 01 Use UBX CFG VALSET UBX CFG VALGET UBX CFG VALDEL instead See the Legacy UBX Message Fields Reference for the corresponding configuration item Configuration...

Page 59: ...cy UBX Message Fields Reference for the corresponding configuration item This message can be used to configure the data logger i e to enable disable the log recording and to get set the position entry...

Page 60: ...or position thresholds If both minInterval and timeThreshold are set minInterval must be less than or equal to timeThreshold 4 U2 timeThreshold s If the time difference is greater than the threshold t...

Page 61: ...d Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 msgClass Message Class 1 U1 msgID Message Identifier 5 9 12 2 Set Message Rate s Message UBX CFG MSG Description Set Message Rat...

Page 62: ...3 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 msgClass Message Class 1 U1 msgID Message Identifier 2 U1 rate Send rate on current Port 5 9 13 UBX...

Page 63: ...U2 0 1 tDop Time DOP Mask to use 18 U2 pAcc m Position Accuracy Mask 20 U2 tAcc m Time Accuracy Mask 22 U1 staticHoldThr esh cm s Static hold threshold 23 U1 dgnssTimeout s DGNSS timeout 24 U1 cnoThr...

Page 64: ...with protocol version 27 Type Get Set Comment This message is deprecated in protocol versions greater than 23 01 Use UBX CFG VALSET UBX CFG VALGET UBX CFG VALDEL instead See the Legacy UBX Message Fi...

Page 65: ...to 1024 weeks after this week Setting this to 0 reverts to firmware default 20 U1 sigAttenCompM ode dBHz Only supported on certain products 21 U1 reserved4 Reserved 22 U1 2 reserved5 Reserved 24 U1 2...

Page 66: ...ssistance acknowledgement settings ppp 1 apply usePPP flag aop 1 apply aopCfg useAOP flag and aopOrbMaxErr settings AssistNow Autonomous Bitfield mask2 This graphic explains the bits of mask2 Name Des...

Page 67: ...th Bytes Payload Checksum Message Structure 0xB5 0x62 0x06 0x17 20 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 X1 filter filter flags see graphic bel...

Page 68: ...Talker ID to GL 3 Set main Talker ID to GN 4 Set main Talker ID to GA 5 Set main Talker ID to GB 10 U1 gsvTalkerId By default the Talker ID for GSV messages is GNSS specific as defined by NMEA This fi...

Page 69: ...y mode This might be needed for certain applications when customer s NMEA parser expects a fixed number of digits in position coordinates consider enable considering mode limit82 enable strict limit t...

Page 70: ...B5 0x62 0x06 0x1E 20 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 version Message version 0 for this version 1 U1 3 reserved1 Reserved 4 U1 flags O...

Page 71: ...one I O Port Firmware Supported on u blox 9 with protocol version 27 Type Poll Request Comment This message is deprecated in protocol versions greater than 23 01 Use UBX CFG VALSET UBX CFG VALGET UBX...

Page 72: ...rupted by a protocol change Host data reception parameters may have to be changed to be able to receive future messages including the acknowledge message resulting from the CFG PRT message Header Clas...

Page 73: ...tes The TX ready PIN goes active after thres 8 bytes are pending for the port and going inactive after the last pending bytes have been written to hardware 0 4 bytes before end of stream 0x000 no thre...

Page 74: ...Stop Bit 11 0 5 Stop Bit Bitfield inProtoMask This graphic explains the bits of inProtoMask Name Description inUbx UBX protocol inNmea NMEA protocol inRtcm RTCM2 protocol inRtcm3 RTCM3 protocol Bitfie...

Page 75: ...ted to one input message In this case the payload length can be a multiple of the normal length see the other versions of CFG PRT Output messages from the module contain only one configuration unit He...

Page 76: ...use already by another function thres Threshold The given threshold is multiplied by 8 bytes The TX ready PIN goes active after thres 8 bytes are pending for the port and going inactive after the las...

Page 77: ...s of CFG PRT Output messages from the module contain only one configuration unit Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x06 0x00 20 see below CK_A CK_B Payload Cont...

Page 78: ...pending for the port and going inactive after the last pending bytes have been written to hardware 0 4 bytes before end of stream 0x000 no threshold 0x001 8byte 0x002 16byte 0x1FE 4080byte 0x1FF 4088b...

Page 79: ...ions greater than 23 01 Use UBX CFG VALSET UBX CFG VALGET UBX CFG VALDEL instead See the Legacy UBX Message Fields Reference for the corresponding configuration item Several configurations can be conc...

Page 80: ...h that multiple protocols can be defined on a single port see graphic below 16 X2 flags Flags bit mask see graphic below 18 U1 2 reserved3 Reserved Bitfield txReady This graphic explains the bits of t...

Page 81: ...ode Name Description slaveAddr Slave address Range 0x07 slaveAddr 0x78 Bit 0 must be 0 Bitfield inProtoMask This graphic explains the bits of inProtoMask Bitfield outProtoMask This graphic explains th...

Page 82: ...ng 0x53544F50 GNSS stopped 0x42434B50 Software Backup USB interface will be disabled other wakeup source is needed 5 9 19 UBX CFG RATE 0x06 0x08 5 9 19 1 Navigation Measurement Rate Settings Message U...

Page 83: ...s and the number of navigation solutions e g 5 means five measurements for every navigation solution Maximum value is 127 4 U2 timeRef The time system to which measurements are aligned 0 UTC time 1 GP...

Page 84: ...Clear Backup Data Structures Firmware Supported on u blox 9 with protocol version 27 Type Command Comment Don t expect this message to be acknowledged by the receiver Newer FW version won t acknowledg...

Page 85: ...Drift osc Oscillator Parameter utc UTC Correction GPS Leap Seconds Parameters rtc RTC aop Autonomous Orbit Parameters 5 9 22 UBX CFG TMODE3 0x06 0x71 5 9 22 1 Time Mode Settings 3 Message UBX CFG TMOD...

Page 86: ...the range 99 99 The precise WGS84 ECEF X coordinate in units of cm or the precise WGS84 ECEF latitude in units of 1e 7 degrees is given by ecefXOrLat ecefXOrLatHP 1e 2 17 I1 ecefYOrLonHP 0 1_ mm_ or_...

Page 87: ...es Payload Checksum Message Structure 0xB5 0x62 0x06 0x31 32 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 tpIdx Time pulse selection 0 TIMEPULSE 1...

Page 88: ...pulseLen when the flag is unset isFreq If set freqPeriodLock and freqPeriod are interpreted as frequency otherwise interpreted as period isLength If set pulseLenRatioLock and pulseLenRatio interprete...

Page 89: ...SET UBX CFG VALGET UBX CFG VALDEL instead See the Legacy UBX Message Fields Reference for the corresponding configuration item Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62...

Page 90: ...a maximum of 64 This message can be used multiple times and every time the result will be applied immediately To send this message multiple times with the result being applied at the end see version...

Page 91: ...Type Set Comment Overview This message can be used to delete saved configuration to effectively revert them to defaults This message can delete saved configuration from the Flash configuration layer...

Page 92: ...is considered a valid request Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x06 0x8C 4 4 N see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Uni...

Page 93: ...onfiguration Items Message UBX CFG VALGET Description Get Configuration Items Firmware Supported on u blox 9 with protocol version 27 Type Poll Request Comment This message is used to read configurati...

Page 94: ...eated block 5 9 27 UBX CFG VALSET 0x06 0x8A 5 9 27 1 Sets values corresponding to provided key value pairs Message UBX CFG VALSET Description Sets values corresponding to provided key value pairs Firm...

Page 95: ...his graphic explains the bits of layers Name Description ram Update configuration in the RAM layer bbr Update configuration in the BBR layer flash Update configuration in the Flash layer 5 9 27 2 Sets...

Page 96: ...ransaction less request Notes Any request for another UBX CFG message type including UBX CFG VALDEL and UBX CFG VALGET will cancel any started transaction and no configuration is applied This message...

Page 97: ...e incoming configuration is applied if valid If a transaction has already been started cancels any started transaction and the incoming configuration is applied if valid 1 Re Start set transaction In...

Page 98: ...Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x04 0x04 0 1 N see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description Start of repeated block...

Page 99: ...Number Format Scaling Name Unit Description Start of repeated block N times N 1 CH str ASCII Character End of repeated block 5 10 4 UBX INF TEST 0x04 0x03 5 10 4 1 ASCII output with test contents Mess...

Page 100: ...on u blox 9 with protocol version 27 Type Output Comment This message has a variable length payload representing an ASCII string Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0...

Page 101: ...or filtering of log entries see UBX CFG LOGFILTER Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x21 0x07 8 see below CK_A CK_B Payload Contents Byte Offset Number Format S...

Page 102: ...based search of a log It can find the index of the first log entry with time equal to the given time otherwise the index of the most recent entry with time less than the given time This index can then...

Page 103: ...version Message version 1 for this version 1 U1 type Message type 1 for response 2 U1 2 reserved1 Reserved 4 U4 entryNumber Index of the first log entry with time given time otherwise index of the mos...

Page 104: ...see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 version The version of this message Set to 1 1 U1 3 reserved1 Reserved 4 U4 filestoreCapa city bytes T...

Page 105: ...dometer log entry Message UBX LOG RETRIEVEPOSEXTRA Description Odometer log entry Firmware Supported on u blox 9 with protocol version 27 Type Output Comment This message is used to report an odometer...

Page 106: ...0b 40 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U4 entryIndex The index of this log entry 4 I4 1e 7 lon deg Longitude 8 I4 1e 7 lat deg Latitude 12...

Page 107: ...ime 13 U1 reserved2 Reserved 14 U2 byteCount Size of string in bytes Start of repeated block byteCount times 16 1 N U1 bytes The bytes of the string End of repeated block 5 11 8 UBX LOG RETRIEVE 0x21...

Page 108: ...om the first entry to be transferred then only the available log entries are transferred followed by a UBX ACK NAK The maximum is 256 8 U1 version The version of this message Set to 0 9 U1 3 reserved1...

Page 109: ...ad Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 type Type of acknowledgment 0 The message was not used by the receiver see infoCode field for an indication of why 1 The messag...

Page 110: ...2 Time polynomial coefficient 2 8 I4 2 50 a1 s s Time polynomial coefficient 1 12 I4 2 33 a0 s Time polynomial coefficient 0 16 U4 2 3 toc s Clock data reference time 20 I2 0 1 TGD1 ns Equipment Grou...

Page 111: ...very of BeiDou almanac assistance to a receiver See the description of AssistNow Online for details Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x13 0x03 40 see below CK_...

Page 112: ...ffset Number Format Scaling Name Unit Description 0 U1 type Message type 0x04 for this type 1 U1 version Message version 0x00 for this version 2 U1 2 reserved1 Reserved 4 U2 30 healthCode Each two byt...

Page 113: ...spheric Assistance Firmware Supported on u blox 9 with protocol version 27 Type Input Comment This message allows the delivery of BeiDou ionospheric assistance to a receiver See the description of Ass...

Page 114: ...se Dump Entry Message UBX MGA DBD Description Navigation Database Dump Entry Firmware Supported on u blox 9 with protocol version 27 Type Input Output Comment UBX MGA DBD messages are only intended to...

Page 115: ...ean motion difference from computed value 8 I4 2 31 m0 semi circles Mean anomaly at reference time 12 U4 2 33 e Eccentricity 16 U4 2 19 sqrtA m 0 5 Square root of the semi major axis 20 I4 2 31 omega0...

Page 116: ...tus 71 U1 dataValidityE 5b E5b Data Validity Status 72 U1 4 reserved3 Reserved 5 12 4 2 UBX MGA GAL ALM Message UBX MGA GAL ALM Description Galileo Almanac Assistance Firmware Supported on u blox 9 wi...

Page 117: ...E5b signal health status 28 U1 4 reserved2 Reserved 5 12 4 3 UBX MGA GAL TIMEOFFSET Message UBX MGA GAL TIMEOFFSET Description Galileo GPS time offset assistance Firmware Supported on u blox 9 with pr...

Page 118: ...urrent leap seconds 13 U1 3600 tot s UTC parameters reference time of week Galileo time 14 U1 wnt weeks UTC parameters reference week number the 8 bit WNt field 15 U1 wnLSF weeks Week number at the en...

Page 119: ...onent of the SV position in PZ 90 02 coordinate System 20 I4 2 20 dx km s X component of the SV velocity in PZ 90 02 coordinate System 24 I4 2 20 dy km s Y component of the SV velocity in PZ 90 02 coo...

Page 120: ...4 U2 N days Reference calender day number of almanac within the four year period from string 5 6 U1 M Type of GLONASS satellite 1 indicates GLONASS M 7 U1 C Unhealthy flag at instant of almanac uploa...

Page 121: ...I4 2 27 tauC s Time scale correction to UTC SU time 8 I4 2 31 tauGps s Correction to GPS time relative to GLONASS time 12 I2 2 10 B1 s Coefficient to determine delta UT1 14 I2 2 16 B2 s msd Rate of ch...

Page 122: ...t of latitude 30 I2 2 29 cus radians Amplitude of sine harmonic correction term to argument of latitude 32 U4 2 33 e Eccentricity 36 U4 2 19 sqrtA m 0 5 Square root of the semi major axis 40 U2 2 4 to...

Page 123: ...ion 0x00 for this version 2 U1 svId GPS Satellite identifier see Satellite Numbering 3 U1 svHealth SV health information 4 U2 2 21 e Eccentricity 6 U1 almWNa week Reference week number of almanac the...

Page 124: ...subframes 4 5 page 25 36 U1 4 reserved2 Reserved 5 12 6 4 UBX MGA GPS UTC Message UBX MGA GPS UTC Description GPS UTC Assistance Firmware Supported on u blox 9 with protocol version 27 Type Input Comm...

Page 125: ...Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x13 0x00 16 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 type Message type 0x06 for thi...

Page 126: ...0x00 for this version 2 U1 2 reserved1 Reserved 4 I4 ecefX cm WGS84 ECEF X coordinate 8 I4 ecefY cm WGS84 ECEF Y coordinate 12 I4 ecefZ cm WGS84 ECEF Z coordinate 16 U4 posAcc cm Position accuracy std...

Page 127: ...message except for the time base See the description of AssistNow Online for details Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x13 0x40 24 see below CK_A CK_B Payload...

Page 128: ...substantially degraded receiver performance This message allows the delivery of time assistance to a receiver in a chosen GNSS timebase This message is equivalent to the UBX MGA INI TIME_UTC message...

Page 129: ...next pulse only if source is EXTINT 5 12 7 5 UBX MGA INI CLKD Message UBX MGA INI CLKD Description Initial Clock Drift Assistance Firmware Supported on u blox 9 with protocol version 27 Type Input Com...

Page 130: ...ssistNow Online for details Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x13 0x40 12 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Desc...

Page 131: ...days since 1 1 2000 12 00h UTC 8 I4 2 30 xpP0 arcsec x_p t 0 polynomial term offset 12 I4 2 30 xpP1 arcsec d x_p t 1 polynomial term drift 16 I4 2 30 ypP0 arcsec y_p t 0 polynomial term offset 20 I4 2...

Page 132: ...uted value 24 I4 2 31 m0 semi circles Mean anomaly at reference time 28 I2 2 29 cuc radians Amp of cosine harmonic corr term to arg of lat 30 I2 2 29 cus radians Amp of sine harmonic corr term to arg...

Page 133: ...Satellite identifier see Satellite Numbering Range 1 5 3 U1 svHealth Almanac SV health information 4 U2 2 21 e Almanac eccentricity 6 U1 almWNa week Reference week number of almanac the 8 bit WNa fie...

Page 134: ...tNow Online for details Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x13 0x05 12 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Descript...

Page 135: ...s included 2 X1 txErrors tx error bitmask see graphic below 3 U1 1 reserved1 Reserved 4 U1 4 protIds The identifiers of the protocols reported in the msgs array 0 UBX 1 NMEA 2 RTCM2 5 RTCM3 256 No pro...

Page 136: ...mask corresponds to one major GNSS Augmentation systems are not reported Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x0A 0x28 8 see below CK_A CK_B Payload Contents Byte...

Page 137: ...ic explains the bits of supported Name Description GPSSup GPS is supported GlonassSup GLONASS is supported BeidouSup BeiDou is supported GalileoSup Galileo is supported Bitfield defaultGnss This graph...

Page 138: ...y the magnitude of the I part magI and the Q part magQ of the complex signal should be the same Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x0A 0x0B 28 see below CK_A CK...

Page 139: ...ucture 0xB5 0x62 0x0A 0x37 22 6 nPins 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 nPins The num...

Page 140: ...No 1 Yes 5 13 5 UBX MON HW 0x0A 0x09 5 13 5 1 Hardware Status Message UBX MON HW Description Hardware Status Firmware Supported on u blox 9 with protocol version 27 Type Periodic Polled Comment This m...

Page 141: ...h of the 17 Physical Pins 45 U1 jamInd CW Jamming indicator scaled 0 no CW jamming 255 strong CW jamming 46 U1 2 reserved2 Reserved 48 X4 pinIrq Mask of Pins Value using the PIO Irq 52 X4 pullH Mask o...

Page 142: ...rrs Number of 100ms timeslots with parity errors 10 20 N U2 framingErrs Number of 100ms timeslots with framing errors 12 20 N U2 overrunErrs Number of 100ms timeslots with overrun errors 14 20 N U2 br...

Page 143: ...PATCH Description Output information about installed patches Firmware Supported on u blox 9 with protocol version 27 Type Polled Comment Header Class ID Length Bytes Payload Checksum Message Structur...

Page 144: ...0 U1 version Message version 0x00 for this version 1 U1 nBlocks The number of RF blocks included 2 U1 2 reserved1 Reserved Start of repeated block nBlocks times 4 24 N U1 blockId RF block id 5 24 N X1...

Page 145: ...ok no significant jamming 2 warning interference visible but fix OK 3 critical interference visible and no fix 5 13 10 UBX MON RXBUF 0x0A 0x07 5 13 10 1 Receiver Buffer Status Message UBX MON RXBUF De...

Page 146: ...ins the bits of flags Name Description awake not in Backup mode 5 13 12 UBX MON TXBUF 0x0A 0x08 5 13 12 1 Transmitter Buffer Status Message UBX MON TXBUF Description Transmitter Buffer Status Firmware...

Page 147: ...f corresponding target reached mem Memory Allocation error alloc Allocation error TX buffer full 5 13 13 UBX MON VER 0x0A 0x04 5 13 13 1 Receiver Software Version Message UBX MON VER Description Recei...

Page 148: ...ers long and contains varying software information Not all extension fields may appear Example reported information can be the software version string of the underlying ROM when the receiver s firmwar...

Page 149: ...t Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 I4 clkB ns Clock bias 8 I4 clkD ns s Clock drift 12 U4 tAcc ns Time accu...

Page 150: ...0x01 0x61 4 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 5...

Page 151: ...cision Position Solution in ECEF Firmware Supported on u blox 9 with protocol version 27 Type Periodic Polled Comment See important comments concerning validity of position given in section Navigation...

Page 152: ...en in section Navigation Output Filters This message outputs the Geodetic position with high precision in the currently selected ellipsoid The default is the WGS84 Ellipsoid but can be changed with th...

Page 153: ...ted on u blox 9 with protocol version 27 Type Periodic Polled Comment This message outputs the traveled distance since last reset see UBX NAV RESETODO together with an associated estimated accuracy an...

Page 154: ...er Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 U1 version Message version 1 for this version 5 U1 numSv Number...

Page 155: ...of eph Name Description ephUsability How long the receiver will be able to use the stored ephemeris data from now on 31 The usability period is unknown 30 The usability period is more than 450 minute...

Page 156: ...ot available 1 GNSS transmission 2 external aiding 3 7 other Bitfield otherOrb This graphic explains the bits of otherOrb Name Description anoAopUsabili ty How long the receiver will be able to use th...

Page 157: ...y Estimate 5 14 10 UBX NAV POSLLH 0x01 0x02 5 14 10 1 Geodetic Position Solution Message UBX NAV POSLLH Description Geodetic Position Solution Firmware Supported on u blox 9 with protocol version 27 T...

Page 158: ...r Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 U2 year y Year UTC 6 U1 month month Month range 1 12 UTC 7 U1 day...

Page 159: ...cle 76 U2 0 01 pDOP Position DOP 78 U1 6 reserved1 Reserved 84 I4 1e 5 headVeh deg Heading of vehicle 2 D 88 I2 1e 2 magDec deg Magnetic declination 90 U2 1e 2 magAcc deg Magnetic declination accuracy...

Page 160: ...integer carrier phase measurements have been used to calculate the solution 2 fixed solution one or more fixed integer carrier phase range measurements have been used to calculate the solution Bitfiel...

Page 161: ...sion 0x00 for this version 1 U1 reserved1 Reserved 2 U2 refStationId Reference Station ID Must be in the range 0 4095 4 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW...

Page 162: ...alculate the solution 2 Fixed solution One or more fixed integer carrier phase range measurements have been used to calculate the solution isMoving 1 if the receiver is operating in moving baseline mo...

Page 163: ...Number Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 U1 version Message version 1 for this version 5 U1 numSvs Nu...

Page 164: ...tNow Offline orbit is used 4 AssistNow Autonomous orbit is used 5 6 7 other orbit information is used ephAvail 1 ephemeris is available for this SV almAvail 1 almanac is available for this SV anoAvail...

Page 165: ...this version 5 U1 numSigs Number of signals 6 U1 2 reserved1 Reserved Start of repeated block numSigs times 8 16 N U1 gnssId GNSS identifier see Satellite Numbering for assignment 9 16 N U1 svId Sate...

Page 166: ...ags Signal related flags see graphic below 20 16 N U1 4 reserved2 Reserved End of repeated block Bitfield sigFlags This graphic explains the bits of sigFlags Name Description health Signal health flag...

Page 167: ...ling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 U1 gpsFix GPSfix Type this value does not qualify a fix as valid and within t...

Page 168: ...f fixStat Name Description diffCorr 1 differential corrections available mapMatching map matching status 00 none 01 valid but not used i e map matching data was received but was too old 10 valid and u...

Page 169: ...with protocol version 27 only with High Precision GNSS products Type Periodic Polled Comment This message contains information about survey in parameters Header Class ID Length Bytes Payload Checksum...

Page 170: ...in position validity flag 1 valid otherwise 0 37 U1 active Survey in in progress flag 1 in progress otherwise 0 38 U1 2 reserved3 Reserved 5 14 18 UBX NAV TIMEBDS 0x01 0x24 5 14 18 1 BDS Time Solution...

Page 171: ...rmware Supported on u blox 9 with protocol version 27 Type Periodic Polled Comment This message reports the precise Galileo time of the most recent navigation solution including validity flags and an...

Page 172: ...estimate Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x01 0x23 20 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U4 iTOW m...

Page 173: ...ecent navigation solution including validity flags and an accuracy estimate Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x01 0x20 16 see below CK_A CK_B Payload Contents...

Page 174: ...0x26 24 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation epoch See the description of iTOW for details 4 U1...

Page 175: ...event or from the last leap second event if no future event scheduled If 0 event is in the future 0 event is now 0 event is in the past Valid only if validTimeToLsEvent 1 16 U2 dateOfLsGpsWn GPS week...

Page 176: ...eap seconds for details Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x01 0x21 20 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Descript...

Page 177: ...5 Unknown 5 14 24 UBX NAV VELECEF 0x01 0x11 5 14 24 1 Velocity Solution in ECEF Message UBX NAV VELECEF Description Velocity Solution in ECEF Firmware Supported on u blox 9 with protocol version 27 Ty...

Page 178: ...s Payload Checksum Message Structure 0xB5 0x62 0x01 0x12 36 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U4 iTOW ms GPS time of week of the navigation...

Page 179: ...on Satelllite Systems GANSS measurements variant of the RRLP measure position response to the SMLC Reference 1 ETSI TS 144 031 V11 0 0 2012 10 Digital cellular telecommunications system Phase 2 Locati...

Page 180: ...red 1 low 2 medium 3 high 48 24 N I4 0 04 dopplerMS m s Doppler measurement 52 24 N I4 0 2 dopplerHz Hz Doppler measurement 56 24 N U2 wholeChips whole value of the code phase measurement 0 1022 for G...

Page 181: ...maximum supported time is 12 days 4 X4 flags task flags see graphic below Bitfield flags This graphic explains the bits of flags Name Description backup The receiver goes into backup mode for a time p...

Page 182: ...elow Bitfield flags This graphic explains the bits of flags Name Description backup The receiver goes into backup mode for a time period defined by duration Provided that it is not connected to USB fo...

Page 183: ...R8 rcvTow s Measurement time of week in receiver local time approximately aligned to the GPS time system The receiver local time of week week number and leap second information can be used to translat...

Page 184: ...ring 38 32 N U1 sigId New style signal identifier see Signal Identifiers 39 32 N U1 freqId Only used for GLONASS This is the frequency slot 7 range from 0 to 13 40 32 N U2 locktime ms Carrier phase lo...

Page 185: ...This graphic explains the bits of prStdev Name Description prStd Estimated pseudorange standard deviation Bitfield cpStdev This graphic explains the bits of cpStdev Name Description cpStd Estimated c...

Page 186: ...he receiver Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x02 0x59 16 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 ver...

Page 187: ...er 60 bits with bytes ordered by earliest transmitted most significant first Top four bits of first byte are zero 12 U1 message Message code 4 bits 13 U1 12 params Parameters 96 bits with bytes ordere...

Page 188: ...ed in each message depends on the nature of the signal Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x02 0x13 8 4 numWords see below CK_A CK_B Payload Contents Byte Offset...

Page 189: ...at Scaling Name Unit Description 0 U1 version Message version 0x01 for this version 1 U1 3 reserved1 Reserved 4 U1 classID Class ID of the referring message 5 U1 messageID Message ID of the referring...

Page 190: ...pplied to the time results output in this message Header Class ID Length Bytes Payload Checksum Message Structure 0xB5 0x62 0x0D 0x03 28 see below CK_A CK_B Payload Contents Byte Offset Number Format...

Page 191: ...rmation on the timing of the next pulse at the TIMEPULSE0 output The recommended configuration when using this message is to set both the measurement rate UBX CFG RATE and the timepulse frequency UBX...

Page 192: ...the bits of refInfo Name Description timeRefGnss GNSS reference information only active if time base is GNSS timeBase 0 0 GPS 1 GLONASS 2 BeiDou 15 Unknown utcStandard UTC standard identifier only act...

Page 193: ...xB5 0x62 0x0D 0x06 20 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 I4 itow ms integer millisecond tow received by source 4 I4 frac ns sub millisecond...

Page 194: ...5 0x62 0x09 0x14 0 see below CK_A CK_B No payload 5 18 1 2 Create Backup File in Flash Message UBX UPD SOS Description Create Backup File in Flash Firmware Supported on u blox 9 with protocol version...

Page 195: ...e 0xB5 0x62 0x09 0x14 4 see below CK_A CK_B Payload Contents Byte Offset Number Format Scaling Name Unit Description 0 U1 cmd Command must be 1 1 U1 3 reserved1 Reserved 5 18 1 4 Backup File Creation...

Page 196: ...sh The host should clear the backup file after receiving this message If the UBX UPD SOS message is polled this message will be resent Header Class ID Length Bytes Payload Checksum Message Structure 0...

Page 197: ...x01 0x05 see below bits 23 16 8 bits that define a unique group ID range 0x01 0xfe bits 7 0 8 bits that define a unique item ID within a group range 0x01 0xfe The entire 32 bits value is the unique Ke...

Page 198: ...below it will become effective upon a restart of the receiver Default This layer contains all items known to the running receiver software and their hard coded default values Data in this layer is not...

Page 199: ...Values are not aligned and there is no padding Note that this is an arbitrary example and any number of items of any value storage size can be concatenated the same way 6 6 Reset Behaviour The RAM la...

Page 200: ...L Use second geofence CFG GEOFENCE FENCE2_LAT 0x40240031 I4 1e 7 deg Latitude of the second geofence circle center CFG GEOFENCE FENCE2_LON 0x40240032 I4 1e 7 deg Longitude of the second geofence circ...

Page 201: ...IN 0x20a30036 U1 ANT1 PIO number Antenna Switch ANT1 PIO number CFG HW ANT_SUP_SHORT_PIN 0x20a30037 U1 ANT0 PIO number Antenna Short ANT0 PIO number CFG HW ANT_SUP_OPEN_PIN 0x20a30038 U1 ANT2 PIO numb...

Page 202: ...tem Key ID Type Scale Unit Description CFG INFMSG UBX_I2C 0x20920001 X1 Information message enable flags for the UBX protocol on the I2C interface See Constants for CFG INFMSG UBX_I2C below for a list...

Page 203: ...possible constants for this item Constants for CFG INFMSG UBX_I2C Constant Value Description ERROR 0x01 Enable ERROR information messages WARNING 0x02 Enable WARNING information messages NOTICE 0x04 E...

Page 204: ...s for CFG INFMSG NMEA_UART1 Constant Value Description ERROR 0x01 Enable ERROR information messages WARNING 0x02 Enable WARNING information messages NOTICE 0x04 Enable NOTICE information messages TEST...

Page 205: ...e the data logger i e to enable disable the log recording and to get set the position entry filter settings Position entries can be filtered based on time difference position difference or current spe...

Page 206: ...m Position threshold If the 3D position difference is greater than the threshold then the position is logged 0 not set MIN_ INTERVAL also applies Note the value set here does not take effect unless CF...

Page 207: ...2C 0x209100ba U1 Output rate of the NMEA GX GGA message on port I2C CFG MSGOUT NMEA_ID_GGA_SPI 0x209100be U1 Output rate of the NMEA GX GGA message on port SPI CFG MSGOUT NMEA_ID_GGA_ UART1 0x209100bb...

Page 208: ...0x209100c0 U1 Output rate of the NMEA GX GSA message on port UART1 CFG MSGOUT NMEA_ID_GSA_ UART2 0x209100c1 U1 Output rate of the NMEA GX GSA message on port UART2 CFG MSGOUT NMEA_ID_GSA_ USB 0x209100...

Page 209: ...209100ea U1 Output rate of the NMEA GX VLW message on port USB CFG MSGOUT NMEA_ID_VTG_I2C 0x209100b0 U1 Output rate of the NMEA GX VTG message on port I2C CFG MSGOUT NMEA_ID_VTG_SPI 0x209100b4 U1 Outp...

Page 210: ...e NMEA GX PUBX04 message on port SPI CFG MSGOUT PUBX_ID_POLYT_ UART1 0x209100f7 U1 Output rate of the NMEA GX PUBX04 message on port UART1 CFG MSGOUT PUBX_ID_POLYT_ UART2 0x209100f8 U1 Output rate of...

Page 211: ...Output rate of the RTCM 3X TYPE1084 message on port UART2 CFG MSGOUT RTCM_3X_ TYPE1084_USB 0x20910366 U1 Output rate of the RTCM 3X TYPE1084 message on port USB CFG MSGOUT RTCM_3X_ TYPE1087_I2C 0x2091...

Page 212: ...x209102d6 U1 Output rate of the RTCM 3X TYPE1127 message on port I2C CFG MSGOUT RTCM_3X_ TYPE1127_SPI 0x209102da U1 Output rate of the RTCM 3X TYPE1127 message on port SPI CFG MSGOUT RTCM_3X_ TYPE1127...

Page 213: ...X_MON_HW2_ UART1 0x209101ba U1 Output rate of the UBX MON HW2 message on port UART1 CFG MSGOUT UBX_MON_HW2_ UART2 0x209101bb U1 Output rate of the UBX MON HW2 message on port UART2 CFG MSGOUT UBX_MON_...

Page 214: ...B 0x20910199 U1 Output rate of the UBX MON MSGPP message on port USB CFG MSGOUT UBX_MON_RF_I2C 0x20910359 U1 Output rate of the UBX MON RF message on port I2C CFG MSGOUT UBX_MON_RF_SPI 0x2091035d U1 O...

Page 215: ...K_ SPI 0x20910069 U1 Output rate of the UBX NAV CLOCK message on port SPI CFG MSGOUT UBX_NAV_CLOCK_ UART1 0x20910066 U1 Output rate of the UBX NAV CLOCK message on port UART1 CFG MSGOUT UBX_NAV_CLOCK_...

Page 216: ...POSECEF_UART2 0x20910030 U1 Output rate of the UBX NAV HPPOSECEF message on port UART2 CFG MSGOUT UBX_NAV_ HPPOSECEF_USB 0x20910031 U1 Output rate of the UBX NAV HPPOSECEF message on port USB CFG MSGO...

Page 217: ...29 U1 Output rate of the UBX NAV POSLLH message on port I2C CFG MSGOUT UBX_NAV_POSLLH_ SPI 0x2091002d U1 Output rate of the UBX NAV POSLLH message on port SPI CFG MSGOUT UBX_NAV_POSLLH_ UART1 0x209100...

Page 218: ...U1 Output rate of the UBX NAV SIG message on port UART1 CFG MSGOUT UBX_NAV_SIG_ UART2 0x20910347 U1 Output rate of the UBX NAV SIG message on port UART2 CFG MSGOUT UBX_NAV_SIG_USB 0x20910348 U1 Outpu...

Page 219: ...059 U1 Output rate of the UBX NAV TIMEGAL message on port USB CFG MSGOUT UBX_NAV_ TIMEGLO_I2C 0x2091004c U1 Output rate of the UBX NAV TIMEGLO message on port I2C CFG MSGOUT UBX_NAV_ TIMEGLO_SPI 0x209...

Page 220: ...0910041 U1 Output rate of the UBX NAV VELECEF message on port SPI CFG MSGOUT UBX_NAV_ VELECEF_UART1 0x2091003e U1 Output rate of the UBX NAV VELECEF message on port UART1 CFG MSGOUT UBX_NAV_ VELECEF_U...

Page 221: ...260 U1 Output rate of the UBX RXM RLM message on port UART2 CFG MSGOUT UBX_RXM_RLM_ USB 0x20910261 U1 Output rate of the UBX RXM RLM message on port USB CFG MSGOUT UBX_RXM_RTCM_ I2C 0x20910268 U1 Outp...

Page 222: ...he UBX TIM TP message on port USB CFG MSGOUT UBX_TIM_VRFY_I2C 0x20910092 U1 Output rate of the UBX TIM VRFY message on port I2C CFG MSGOUT UBX_TIM_VRFY_SPI 0x20910096 U1 Output rate of the UBX TIM VRF...

Page 223: ...PG ACKAIDING 0x10110025 L Acknowledge assistance input messages CFG NAVSPG USE_USRDAT 0x10110061 L Use user geodetic datum parameters This must be set together with all CFG NAVSPG USERDAT_ parameters...

Page 224: ...to 50 0 parts per million This will only be used if CFG NAVSPG USE_USERDAT is set It must be set together with all other CFG NAVSPG USERDAT_ parameters CFG NAVSPG INFIL_MINSVS 0x201100a1 U1 Minimum n...

Page 225: ...e NTSC 7 UTC as operated by the National Time Service Center China derived from BeiDou time Constants for CFG NAVSPG DYNMODEL Constant Value Description PORT 0 Portable STAT 2 Stationary PED 3 Pedestr...

Page 226: ...orting of QZSS satellites CFG NMEA FILT_GLO 0x10930016 L Disable reporting of GLONASS satellites CFG NMEA FILT_BDS 0x10930017 L Disable reporting of BeiDou satellites CFG NMEA OUT_INVFIX 0x10930021 L...

Page 227: ...r ID is not overridden GP 1 Set main Talker ID to GP GL 2 Set main Talker ID to GL GN 3 Set main Talker ID to GN GA 4 Set main Talker ID to GA GB 5 Set main Talker ID to GB Constants for CFG NMEA GSVT...

Page 228: ...OM 4 Custom 6 7 15 CFG RATE Navigation and Measurement Rate Configuration The configuration items in this group allow the user to alter the rate at which navigation solutions and the measurements that...

Page 229: ...s CFG RINV CHUNK0 0x50c70004 X8 Data bytes 1 8 LSB Data to store be stored in Remote Inventory max 8 bytes left most in LSB e g string ABCD will appear as 0x44434241 CFG RINV CHUNK1 0x50c70005 X8 Data...

Page 230: ...LO_ENA 0x10310025 L GLONASS enable CFG SIGNAL GLO_L1_ENA 0x10310018 L GLONASS L1 CFG SIGNAL GLO_L2_ENA 0x1031001a L GLONASS L2 only on u blox 9 F platform products 6 7 18 CFG SPI Configuration of the...

Page 231: ...o in the configuration items is that of the Antenna Reference Point ARP CFG TMODE Configuration Items Configuration Item Key ID Type Scale Unit Description CFG TMODE MODE 0x20030001 E1 Receiver mode S...

Page 232: ...to 99 This will only be used if CFG TMODE MODE FIXED and CFG TMODE POS_TYPE LLH CFG TMODE LON_HP 0x2003000d I1 1e 9 deg High precision longitude of the ARP position Accepted range is 99 to 99 This wi...

Page 233: ...25 U4 Hz Time pulse frequency when locked to GNSS time TP1 Only used if CFG TP USE_LOCKED_TP1 is set and CFG TP LEN_TP1 0x40050004 U4 0 00000 1 s Time pulse length TP1 CFG TP LEN_LOCK_TP1 0x40050005 U...

Page 234: ...t Note that configured GNSS time is estimated by the receiver if locked to any GNSS system If the receiver has a valid GNSS fix it will attempt to steer the TP to the specified time grid even if the s...

Page 235: ...mmunication interface CFG UART1 Configuration Items Configuration Item Key ID Type Scale Unit Description CFG UART1 BAUDRATE 0x40520001 U4 The baud rate that should be configured on the UART1 CFG UART...

Page 236: ...g to indicate if UBX should be an output protocol on UART1 CFG UART1OUTPROT NMEA 0x10740002 L Flag to indicate if NMEA should be an output protocol on UART1 CFG UART1OUTPROT RTCM3X 0x10740004 L Flag t...

Page 237: ...T Configuration Items Configuration Item Key ID Type Scale Unit Description CFG UART2INPROT UBX 0x10750001 L Flag to indicate if UBX should be an input protocol on UART2 CFG UART2INPROT NMEA 0x1075000...

Page 238: ...X8 Serial number string characters 0 7 CFG USB SERIAL_NO_STR1 0x50650016 X8 Serial number string characters 8 15 CFG USB SERIAL_NO_STR2 0x50650017 X8 Serial number string characters 16 23 CFG USB SERI...

Page 239: ...X CFG DAT rotY CFG NAVSPG USRDAT_ROTY UBX CFG DAT rotZ CFG NAVSPG USRDAT_ROTZ UBX CFG DAT scale CFG NAVSPG USRDAT_SCALE UBX CFG DGNSS dgnssMode CFG NAVHPG DGNSSMODE UBX CFG GEOFENCE confLvl CFG GEOFEN...

Page 240: ...lID CFG INFMSG UBX_UART2 UBX CFG INF protocolID CFG INFMSG UBX_USB UBX CFG ITFM antSetting CFG ITFM ANTSETTING UBX CFG ITFM bbThreshold CFG ITFM BBTHRESHOLD UBX CFG ITFM cwThreshold CFG ITFM CWTHRESHO...

Page 241: ...MEA OUT_INVDATE UBX CFG NMEA glonass CFG NMEA FILT_GLO UBX CFG NMEA gps CFG NMEA FILT_GPS UBX CFG NMEA gpsOnlyFilter CFG NMEA OUT_ONLYGPS UBX CFG NMEA gsvTalkerId CFG NMEA GSVTALKERID UBX CFG NMEA hig...

Page 242: ...inUbx CFG SPIINPROT UBX UBX CFG PRT outNmea CFG SPIOUTPROT NMEA UBX CFG PRT outProtoMask CFG SPI ENABLED UBX CFG PRT outRtcm3 CFG SPIOUTPROT RTCM3X UBX CFG PRT outUbx CFG SPIOUTPROT UBX UBX CFG PRT pi...

Page 243: ...FG RINV data CFG RINV CHUNK1 UBX CFG RINV data CFG RINV CHUNK2 UBX CFG RINV data CFG RINV CHUNK3 UBX CFG RINV data CFG RINV DATA_SIZE UBX CFG RINV flags CFG RINV BINARY UBX CFG RINV flags CFG RINV DUM...

Page 244: ...FG TP5 pulseLenRatioLock CFG TP DUTY_LOCK_TP1 UBX CFG TP5 pulseLenRatioLock CFG TP LEN_LOCK_TP1 UBX CFG TP5 userConfigDelay CFG TP USER_DELAY_TP1 UBX CFG USB powerConsumption CFG USB POWER UBX CFG USB...

Page 245: ...TK observations 1012 Extended L1 L2 GLONASS RTK observations 1033 Receiver and antenna descriptors 1074 GPS MSM4 1075 GPS MSM5 1077 GPS MSM7 1084 GLONASS MSM4 1085 GLONASS MSM5 1087 GLONASS MSM7 1094...

Page 246: ...e configuration of the RTK rover and reference station is explained in the Integration Manual The RTCM3 protocol can be disabled enabled on communication interfaces by means of the configuration items...

Page 247: ...sigId to distinguish between different signals from GNSS Signal identifiers are only valid when combined with a GNSS identifier see above The table below shows the range of identifiers currently suppo...

Page 248: ...D 0x40240033 U4 0 01 m 0 CFG GEOFENCE USE_FENCE3 0x10240040 L 0 false CFG GEOFENCE FENCE3_LAT 0x40240041 I4 1e 7 deg 0 CFG GEOFENCE FENCE3_LON 0x40240042 I4 1e 7 deg 0 CFG GEOFENCE FENCE3_RAD 0x402400...

Page 249: ...NMEA_I2C 0x20920006 X1 0x07 ERROR WARNING NOTICE CFG INFMSG NMEA_UART1 0x20920007 X1 0x07 ERROR WARNING NOTICE CFG INFMSG NMEA_UART2 0x20920008 X1 0x07 ERROR WARNING NOTICE CFG INFMSG NMEA_USB 0x2092...

Page 250: ...09100bc U1 1 CFG MSGOUT NMEA_ID_GGA_USB 0x209100bd U1 1 CFG MSGOUT NMEA_ID_GLL_I2C 0x209100c9 U1 1 CFG MSGOUT NMEA_ID_GLL_SPI 0x209100cd U1 1 CFG MSGOUT NMEA_ID_GLL_UART1 0x209100ca U1 1 CFG MSGOUT NM...

Page 251: ...1 CFG MSGOUT NMEA_ID_VTG_UART2 0x209100b2 U1 1 CFG MSGOUT NMEA_ID_VTG_USB 0x209100b3 U1 1 CFG MSGOUT NMEA_ID_ZDA_I2C 0x209100d8 U1 0 CFG MSGOUT NMEA_ID_ZDA_SPI 0x209100dc U1 0 CFG MSGOUT NMEA_ID_ZDA_U...

Page 252: ..._TYPE1084_I2C 0x20910363 U1 0 CFG MSGOUT RTCM_3X_TYPE1084_SPI 0x20910367 U1 0 CFG MSGOUT RTCM_3X_TYPE1084_ UART1 0x20910364 U1 0 CFG MSGOUT RTCM_3X_TYPE1084_ UART2 0x20910365 U1 0 CFG MSGOUT RTCM_3X_T...

Page 253: ...0x20910306 U1 0 CFG MSGOUT UBX_LOG_INFO_I2C 0x20910259 U1 0 CFG MSGOUT UBX_LOG_INFO_SPI 0x2091025d U1 0 CFG MSGOUT UBX_LOG_INFO_UART1 0x2091025a U1 0 CFG MSGOUT UBX_LOG_INFO_UART2 0x2091025b U1 0 CFG...

Page 254: ...209101a1 U1 0 CFG MSGOUT UBX_MON_RXBUF_UART2 0x209101a2 U1 0 CFG MSGOUT UBX_MON_RXBUF_USB 0x209101a3 U1 0 CFG MSGOUT UBX_MON_RXR_I2C 0x20910187 U1 0 CFG MSGOUT UBX_MON_RXR_SPI 0x2091018b U1 0 CFG MSGO...

Page 255: ...0 CFG MSGOUT UBX_NAV_HPPOSLLH_USB 0x20910036 U1 0 CFG MSGOUT UBX_NAV_ODO_I2C 0x2091007e U1 0 CFG MSGOUT UBX_NAV_ODO_SPI 0x20910082 U1 0 CFG MSGOUT UBX_NAV_ODO_UART1 0x2091007f U1 0 CFG MSGOUT UBX_NAV_...

Page 256: ...0 CFG MSGOUT UBX_NAV_STATUS_SPI 0x2091001e U1 0 CFG MSGOUT UBX_NAV_STATUS_UART1 0x2091001b U1 0 CFG MSGOUT UBX_NAV_STATUS_UART2 0x2091001c U1 0 CFG MSGOUT UBX_NAV_STATUS_USB 0x2091001d U1 0 CFG MSGOUT...

Page 257: ...MSGOUT UBX_NAV_VELECEF_USB 0x20910040 U1 0 CFG MSGOUT UBX_NAV_VELNED_I2C 0x20910042 U1 0 CFG MSGOUT UBX_NAV_VELNED_SPI 0x20910046 U1 0 CFG MSGOUT UBX_NAV_VELNED_UART1 0x20910043 U1 0 CFG MSGOUT UBX_NA...

Page 258: ...10095 U1 0 High Precision Navigation Configuration CFG NAVHPG Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value CFG NAVHPG DGNSSMODE 0x20140011 E1 3 RTK_FIXED Standard Pre...

Page 259: ...930004 L 1 true CFG NMEA LIMIT82 0x10930005 L 0 false CFG NMEA HIGHPREC 0x10930006 L 0 false CFG NMEA SVNUMBERING 0x20930007 E1 0 STRICT CFG NMEA FILT_GPS 0x10930011 L 0 false CFG NMEA FILT_SBAS 0x109...

Page 260: ...CFG RINV CHUNK3 0x50c70007 X8 0x0000000000000000 Satellite Systems GNSS Signal Configuration CFG SIGNAL Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value CFG SIGNAL GPS_E...

Page 261: ...Unit Default Value CFG TMODE MODE 0x20030001 E1 0 DISABLED CFG TMODE POS_TYPE 0x20030002 E1 0 ECEF CFG TMODE ECEF_X 0x40030003 I4 cm 0 CFG TMODE ECEF_Y 0x40030004 I4 cm 0 CFG TMODE ECEF_Z 0x40030005...

Page 262: ...005000c E1 0 UTC Tx Ready Configuration CFG TXREADY Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value CFG TXREADY ENABLED 0x10a20001 L 0 false CFG TXREADY POLARITY 0x10a20...

Page 263: ...02 L 0 false CFG UART2INPROT RTCM3X 0x10750004 L 1 true Output Protocol Configuration of the UART2 Interface CFG UART2OUTPROT Configuration Defaults Configuration Item Key ID Type Scale Unit Default V...

Page 264: ...FG USB SERIAL_NO_STR3 0x50650018 X8 0x0000000000000000 Input Protocol Configuration of the USB Interface CFG USBINPROT Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value CF...

Page 265: ...s and integration manuals general documents are also available These include GPS Compendium Docu No GPS X 02007 GPS Antennas RF Design Considerations for u blox GPS Receivers Docu No GPS X 08014 Our w...

Page 266: ...P Interface Description Manual A d v a n c e I n f o r m a t i o n Revision History Revision Date Name Status Comments R04 18 Sep 2018 jhak Advance Information UBX 18010854 R04 Advance Information Pag...

Page 267: ...m Regional Office China Beijing Phone 86 10 68 133 545 E mail info_cn u blox com Support support_cn u blox com Regional Office China Chongqing Phone 86 23 6815 1588 E mail info_cn u blox com Support s...

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