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Document Information Title u-blox 6 Receiver Description Subtitle Including Protocol Specification Document type Manual Document number GPS.G6-SW-10018-A 46333, 1 Apr 2011 Document status Revision for FW 7.03 (Public Release) This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They can be downloaded from www.u-blox.com. u-blox makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice. u-blox reserves all rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without express permission is strictly prohibited. Copyright © 2011, u-blox AG. GPS.G6-SW-10018-A Public Release Page ii
Table of Contents Receiver Description .................................................................................................................................... 1 1 Overview ............................................................................................................................................. 1 2 Navigation Configuration Settings Description................................................................................ 1 2.1 Platform settings .......................................................................................................................... 1 2.2 Navigation Input Filters ............................................................................................................... 2 2.3 Navigation Output Filters ............................................................................................................ 2 2.4 Static Hold .................................................................................................................................... 3 2.5 Freezing the Course Over Ground .............................................................................................. 3 2.6 Degraded Navigation................................................................................................................... 3 2.6.1 2D Navigation........................................................................................................................ 3 2.6.2 Dead Reckoning, Extrapolating Positioning........................................................................ 3 3 SBAS Configuration Settings Description ......................................................................................... 4 3.1 SBAS (Satellite Based Augmentation Systems)........................................................................... 4 3.2 SBAS Features ............................................................................................................................... 5 3.3 SBAS Configuration...................................................................................................................... 6 4 Serial Communication Ports Description........................................................................................... 7 4.1 UART Ports.................................................................................................................................... 7 4.2 USB Port ........................................................................................................................................ 8 4.3 DDC Port ....................................................................................................................................... 8 4.3.1 Read Access............................................................................................................................ 9 4.3.1.1 Random Read Access ................................................................................................... 10 4.3.1.2 Current Address Read .................................................................................................. 10 4.3.2 Write Access......................................................................................................................... 11 4.4 SPI Port........................................................................................................................................ 11 4.4.1 Read Access.......................................................................................................................... 12 4.4.2 Back-To-Back Read and Write Access................................................................................. 12 4.5 How to change between protocols........................................................................................... 12 5 Receiver Configuration..................................................................................................................... 14 5.1 Configuration Concept .............................................................................................................. 14 5.2 Organization of the Configuration Sections ............................................................................ 15 5.3 Permanent Configuration Storage Media ................................................................................ 15 5.4 Receiver Default Configuration ................................................................................................ 16 6 NMEA Protocol Configuration.......................................................................................................... 16 7 Forcing a Receiver Reset................................................................................................................... 16 8 Remote Inventory ............................................................................................................................. 17 8.1 Description.................................................................................................................................. 17 8.2 Usage .......................................................................................................................................... 17 9 Power Management ......................................................................................................................... 18 9.1 Maximum Performance Mode................................................................................................... 18 9.2 Eco Mode .................................................................................................................................... 18 GPS.G6-SW-10018-A Public Release Page iii
Page 1: u-blox 6 Receiver Description Inclu
Page 5 and 6: 13.2 Startup Strategies............
Page 7 and 8: 30.2.1 ALP client requests AlmanacP
Page 9 and 10: 31.20.1 Poll RXM configuration ....
Page 11 and 12: 36.1.1 Poll GPS Constellation Alman
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
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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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