u-blox 6

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34.3.1 I/O Subsystem Status ....................................................................................................... 154 34.4 MON-MSGPP (0x0A 0x06) ...................................................................................................... 155 34.4.1 Message Parse and Process Status.................................................................................. 155 34.5 MON-RXBUF (0x0A 0x07)....................................................................................................... 155 34.5.1 Receiver Buffer Status..................................................................................................... 155 34.6 MON-RXR (0x0A 0x21) ........................................................................................................... 156 34.6.1 Receiver Status Information ........................................................................................... 156 34.7 MON-TXBUF (0x0A 0x08) ....................................................................................................... 156 34.7.1 Transmitter Buffer Status ............................................................................................... 156 34.8 MON-VER (0x0A 0x04) ........................................................................................................... 157 34.8.1 Receiver/Software/ROM Version .................................................................................... 157 35 NAV (0x01)..................................................................................................................................... 158 35.1 NAV-AOPSTATUS (0x01 0x60)................................................................................................ 158 35.1.1 AssistNow Autonomous Status....................................................................................... 158 35.2 NAV-CLOCK (0x01 0x22) ........................................................................................................ 158 35.2.1 Clock Solution ................................................................................................................. 158 35.3 NAV-DGPS (0x01 0x31)........................................................................................................... 159 35.3.1 DGPS Data Used for NAV................................................................................................ 159 35.4 NAV-DOP (0x01 0x04) ............................................................................................................ 160 35.4.1 Dilution of precision ....................................................................................................... 160 35.5 NAV-EKFSTATUS (0x01 0x40)................................................................................................. 160 35.5.1 Dead Reckoning Software Status................................................................................... 160 35.6 NAV-POSECEF (0x01 0x01) ..................................................................................................... 162 35.6.1 Position Solution in ECEF ................................................................................................ 162 35.7 NAV-POSLLH (0x01 0x02) ....................................................................................................... 163 35.7.1 Geodetic Position Solution ............................................................................................. 163 35.8 NAV-SBAS (0x01 0x32) ........................................................................................................... 163 35.8.1 SBAS Status Data............................................................................................................. 163 35.9 NAV-SOL (0x01 0x06) ............................................................................................................. 165 35.9.1 Navigation Solution Information ................................................................................... 165 35.10 NAV-STATUS (0x01 0x03) ..................................................................................................... 166 35.10.1 Receiver Navigation Status ........................................................................................... 166 35.11 NAV-SVINFO (0x01 0x30) ..................................................................................................... 168 35.11.1 Space Vehicle Information............................................................................................ 168 35.12 NAV-TIMEGPS (0x01 0x20) ................................................................................................... 170 35.12.1 GPS Time Solution......................................................................................................... 170 35.13 NAV-TIMEUTC (0x01 0x21)................................................................................................... 170 35.13.1 UTC Time Solution......................................................................................................... 170 35.14 NAV-VELECEF (0x01 0x11).................................................................................................... 171 35.14.1 Velocity Solution in ECEF .............................................................................................. 171 35.15 NAV-VELNED (0x01 0x12) .................................................................................................... 172 35.15.1 Velocity Solution in NED............................................................................................... 172 36 RXM (0x02) .................................................................................................................................... 173 36.1 RXM-ALM (0x02 0x30)............................................................................................................ 173 GPS.G6-SW-10018-A Public Release Page x
36.1.1 Poll GPS Constellation Almanach Data .......................................................................... 173 36.1.2 Poll GPS Constellation Almanach Data for a SV............................................................ 173 36.1.3 GPS Aiding Almanach Input/Output Message............................................................... 174 36.2 RXM-EPH (0x02 0x31)............................................................................................................. 174 36.2.1 Poll GPS Constellation Ephemeris Data ......................................................................... 174 36.2.2 Poll GPS Constellation Ephemeris Data for a SV ........................................................... 175 36.2.3 GPS Aiding Ephemeris Input/Output Message .............................................................. 175 36.3 RXM-PMREQ (0x02 0x41) ....................................................................................................... 176 36.3.1 Requests a Power Management task............................................................................. 176 36.4 RXM-RAW (0x02 0x10) ........................................................................................................... 176 36.4.1 Raw Measurement Data ................................................................................................. 176 36.5 RXM-SFRB (0x02 0x11) ........................................................................................................... 177 36.5.1 Subframe Buffer.............................................................................................................. 177 36.6 RXM-SVSI (0x02 0x20) ............................................................................................................ 178 36.6.1 SV Status Info .................................................................................................................. 178 37 TIM (0x0D) ..................................................................................................................................... 180 37.1 TIM-SVIN (0x0D 0x04)............................................................................................................. 180 37.1.1 Survey-in data.................................................................................................................. 180 37.2 TIM-TM2 (0x0D 0x03) ............................................................................................................. 180 37.2.1 Time mark data ............................................................................................................... 180 37.3 TIM-TP (0x0D 0x01) ................................................................................................................ 182 37.3.1 Timepulse Timedata........................................................................................................ 182 37.4 TIM-VRFY (0x0D 0x06)............................................................................................................ 183 37.4.1 Sourced Time Verification .............................................................................................. 183 RTCM Protocol .......................................................................................................................................... 184 38 Introduction................................................................................................................................... 184 39 Supported Messages..................................................................................................................... 184 40 Configuration ................................................................................................................................ 184 41 Output ........................................................................................................................................... 184 42 Restrictions .................................................................................................................................... 184 43 Reference....................................................................................................................................... 185 Appendix .................................................................................................................................................. 186 A u-<strong>blox</strong> 6 Default Settings............................................................................................................... 186 A.1 Antenna Supervisor Settings (UBX-CFG-ANT)........................................................................ 186 A.2 Datum Settings (UBX-CFG-DAT) ............................................................................................. 186 A.3 Navigation Settings (UBX-CFG-NAV5) .................................................................................... 186 A.4 Navigation Settings (UBX-CFG-NAVX5).................................................................................. 187 A.5 Output Rates (UBX-CFG-RATE) ............................................................................................... 187 A.6 Fix Now Configuration (UBX-CFG-FXN).................................................................................. 187 A.7 Power Management Configuration (UBX-CFG-PM) .............................................................. 188 A.8 Power Management 2 Configuration (UBX-CFG-PM2) ......................................................... 188 A.9 Receiver Manager Configuration (UBX-CFG-RXM)................................................................ 189 A.10 SBAS Configuration (UBX-CFG-SBAS) ................................................................................... 189 A.11 Port Setting (UBX-CFG-PRT) .................................................................................................. 189 GPS.G6-SW-10018-A Public Release Page xi
Page 1 and 2: u-blox 6 Receiver Description Inclu
Page 3 and 4: Table of Contents Receiver Descript
Page 5 and 6: 13.2 Startup Strategies............
Page 7 and 8: 30.2.1 ALP client requests AlmanacP
Page 9: 31.20.1 Poll RXM configuration ....
Page 13 and 14: Receiver Description 1 Overview The
Page 15 and 16: message must be checked. 2.4 Static
Page 17 and 18: • Ionosphere corrections for Iono
Page 19 and 20: SBAS Configuration parameters conti
Page 21 and 22: is therefore not configurable on th
Page 23 and 24: DDC Current Address Read Access 4.3
Page 25 and 26: NMEA protocol so in most cases, it
Page 27 and 28: 5.2 Organization of the Configurati
Page 29 and 30: • Warm start In Warm start mode,
Page 31 and 32: State machine 9.3.1.1 ON/OFF operat
Page 33 and 34: has been tracked with a minimal C/N
Page 35 and 36: 9.3.3 Communication, wake-up, FixNo
Page 37 and 38: for noon the following day. 9.3.4.2
Page 39 and 40: • If relative time accuracy betwe
Page 41 and 42: 11.3.2 Example 2: The following exa
Page 43 and 44: • RF group delay - delay of the s
Page 45 and 46: This monitor reports whether jammin
Page 47 and 48: globe. With A-GPS, the receiver can
Page 49 and 50: Overview of the different versions
Page 51 and 52: • If no broadcast ephemeris is av
Page 53 and 54: any help. Again 12 hours later, how
Page 55 and 56: 15.2.1 First Byte Reception The eas
Page 57 and 58: 15.2.3 Latency Depending on the tim
Page 59 and 60: gyroscope measurement errors. For G
Page 61 and 62:
NMEA Protocol 16 Protocol Overview
Page 63 and 64:
18 Position Fix Flags in NMEA Mode
Page 65 and 66:
20 Standard Messages Standard Messa
Page 67 and 68:
20.3 GGA Message GGA Description Gl
Page 69 and 70:
20.5 GPQ Message Description GPQ Po
Page 71 and 72:
20.7 GSA Message Description GSA GN
Page 73 and 74:
20.9 GSV Message GSV Description GN
Page 75 and 76:
20.11 TXT Message TXT Description T
Page 77 and 78:
20.13 ZDA Message ZDA Description T
Page 79 and 80:
UBX,00 continued Field No. Example
Page 81 and 82:
Table Satellite Status Satellite St
Page 83 and 84:
21.4 UBX,05 Message Description Fir
Page 85 and 86:
21.5 UBX,06 Message Description Fir
Page 87 and 88:
21.6 UBX Message Description UBX Po
Page 89 and 90:
21.8 UBX,41 Message UBX,41 Descript
Page 91 and 92:
UBX Class IDs continued Name Class
Page 93 and 94:
28 UBX Messages Overview Page Mnemo
Page 95 and 96:
UBX Messages Overview continued Pag
Page 97 and 98:
29 ACK (0x05) Ack/Nack Messages: i.
Page 99 and 100:
30.1.3 GPS Aiding Almanac Input/Out
Page 101 and 102:
30.2.3 ALP client sends AlmanacPlus
Page 103 and 104:
AID-ALP continued Byte Offset Byte
Page 105 and 106:
30.5 AID-DATA (0x0B 0x10) 30.5.1 Po
Page 107 and 108:
30.7 AID-HUI (0x0B 0x02) 30.7.1 Pol
Page 109 and 110:
30.8.2 Aiding position, time, frequ
Page 111 and 112:
31 CFG (0x06) Configuration Input M
Page 113 and 114:
CFG-CFG continued Byte Offset Numbe
Page 115 and 116:
CFG-DAT continued Byte Offset Numbe
Page 117 and 118:
CFG-EKF continued Byte Offset Numbe
Page 119 and 120:
Bitfield flags This Graphic explain
Page 121 and 122:
CFG-INF continued Byte Offset Numbe
Page 123 and 124:
Bitfield config2 This Graphic expla
Page 125 and 126:
31.10.2 Get/Set Navigation Engine S
Page 127 and 128:
CFG-NAVX5 continued Byte Offset Num
Page 129 and 130:
Bitfield filter This Graphic explai
Page 131 and 132:
31.14 CFG-PM2 (0x06 0x3B) 31.14.1 P
Page 133 and 134:
31.15 CFG-PM (0x06 0x32) 31.15.1 Po
Page 135 and 136:
31.16 CFG-PRT (0x06 0x00) 31.16.1 P
Page 137 and 138:
Bitfield mode This Graphic explains
Page 139 and 140:
Bitfield txReady Description contin
Page 141 and 142:
Bitfield mode This Graphic explains
Page 143 and 144:
Bitfield txReady Description contin
Page 145 and 146:
31.18 CFG-RINV (0x06 0x34) 31.18.1
Page 147 and 148:
Bitfield navBbrMask Description con
Page 149 and 150:
Bitfield mode Description continued
Page 151 and 152:
CFG-TMODE2 continued Byte Offset Nu
Page 153 and 154:
31.24.3 Get/Set TimePulse Parameter
Page 155 and 156:
CFG-TP continued Byte Offset Number
Page 157 and 158:
32 ESF (0x10) External Sensor Fusio
Page 159 and 160:
Bitfield sensStatus1 This Graphic e
Page 161 and 162:
33.3 INF-NOTICE (0x04 0x02) 33.3.1
Page 163 and 164:
34 MON (0x0A) Monitoring Messages:
Page 165 and 166:
Page 167 and 168:
34.4 MON-MSGPP (0x0A 0x06) 34.4.1 M
Page 169 and 170:
MON-TXBUF continued Byte Offset Num
Page 171 and 172:
NAV-CLOCK continued Byte Offset Num
Page 173 and 174:
NAV-EKFSTATUS continued Byte Offset
Page 175 and 176:
35.7 NAV-POSLLH (0x01 0x02) 35.7.1
Page 177 and 178:
35.9 NAV-SOL (0x01 0x06) 35.9.1 Nav
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
NAV-TIMEUTC continued Byte Offset N
Page 185 and 186:
36 RXM (0x02) Receiver Manager Mess
Page 187 and 188:
36.2.2 Poll GPS Constellation Ephem
Page 189 and 190:
RXM-RAW continued Byte Offset Numbe
Page 191 and 192:
Bitfield age This Graphic explains
Page 193 and 194:
TIM-TM2 continued Byte Offset Byte
Page 195 and 196:
37.4 TIM-VRFY (0x0D 0x06) 37.4.1 So
Page 197 and 198:
• Precise Point Positioning will
Page 199 and 200:
Dynamic Platform Model Default Sett
Page 201 and 202:
Power Management 2 Configuration De
Page 203 and 204:
NMEA default enabled INF msg Messag
Page 205 and 206:
C Geodetic Datum C.1 Predefined Dat
Page 207 and 208:
Geodetic Datum Defined in Firmware
Page 209 and 210:
Page 211 and 212:
Page 213:
Contact For complete contact inform
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