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20.3 GGA........................................................................................................................................... 55 20.4 GLL ............................................................................................................................................ 56 20.5 GPQ ........................................................................................................................................... 57 20.6 GRS ............................................................................................................................................ 58 20.7 GSA............................................................................................................................................ 59 20.8 GST ............................................................................................................................................ 60 20.9 GSV............................................................................................................................................ 61 20.10 RMC......................................................................................................................................... 62 20.11 TXT .......................................................................................................................................... 63 20.12 VTG.......................................................................................................................................... 64 20.13 ZDA ......................................................................................................................................... 65 21 Proprietary Messages ..................................................................................................................... 66 21.1 UBX,00 ...................................................................................................................................... 66 21.2 UBX,03 ...................................................................................................................................... 68 21.3 UBX,04 ...................................................................................................................................... 70 21.4 UBX,05 ...................................................................................................................................... 71 21.5 UBX,06 ...................................................................................................................................... 73 21.6 UBX ........................................................................................................................................... 75 21.7 UBX,40 ...................................................................................................................................... 76 21.8 UBX,41 ...................................................................................................................................... 77 UBX Protocol............................................................................................................................................... 78 22 UBX Protocol Key Features............................................................................................................. 78 23 UBX Packet Structure...................................................................................................................... 78 24 UBX Class IDs................................................................................................................................... 78 25 UBX Payload Definition Rules ........................................................................................................ 79 25.1 Structure Packing ..................................................................................................................... 79 25.2 Message Naming ...................................................................................................................... 79 25.3 Number Formats....................................................................................................................... 79 26 UBX Checksum................................................................................................................................. 79 27 UBX Message Flow.......................................................................................................................... 80 27.1 Acknowledgement................................................................................................................... 80 27.2 Polling Mechanism ................................................................................................................... 80 28 UBX Messages Overview................................................................................................................ 81 29 ACK (0x05) ....................................................................................................................................... 85 29.1 ACK-ACK (0x05 0x01) ............................................................................................................... 85 29.1.1 Message Acknowledged ................................................................................................... 85 29.2 ACK-NAK (0x05 0x00)............................................................................................................... 85 29.2.1 Message Not-Acknowledged............................................................................................ 85 30 AID (0x0B)........................................................................................................................................ 86 30.1 AID-ALM (0x0B 0x30) ............................................................................................................... 86 30.1.1 Poll GPS Aiding Almanac Data ......................................................................................... 86 30.1.2 Poll GPS Aiding Almanac Data for a SV ........................................................................... 86 30.1.3 GPS Aiding Almanac Input/Output Message................................................................... 87 30.2 AID-ALPSRV (0x0B 0x32) .......................................................................................................... 87 GPS.G6-SW-10018-A Public Release Page vi
30.2.1 ALP client requests AlmanacPlus data from server ......................................................... 87 30.2.2 ALP server sends AlmanacPlus data to client .................................................................. 88 30.2.3 ALP client sends AlmanacPlus data to server. ................................................................. 89 30.3 AID-ALP (0x0B 0x50)................................................................................................................. 89 30.3.1 ALP file data transfer to the receiver............................................................................... 89 30.3.2 Mark end of data transfer ................................................................................................ 90 30.3.3 Acknowledges a data transfer ......................................................................................... 90 30.3.4 Indicate problems with a data transfer ........................................................................... 90 30.3.5 Poll the AlmanacPlus status.............................................................................................. 91 30.4 AID-AOP (0x0B 0x33)................................................................................................................ 91 30.4.1 Poll AssistNow Autonomous data .................................................................................... 91 30.4.2 Poll AssistNow Autonomous data for one satellite ........................................................ 92 30.4.3 AssistNow Autonomous data ........................................................................................... 92 30.5 AID-DATA (0x0B 0x10) ............................................................................................................. 93 30.5.1 Polls all GPS Initial Aiding Data........................................................................................ 93 30.6 AID-EPH (0x0B 0x31) ................................................................................................................ 93 30.6.1 Poll GPS Aiding Ephemeris Data ...................................................................................... 93 30.6.2 Poll GPS Aiding Ephemeris Data for a SV ........................................................................ 93 30.6.3 GPS Aiding Ephemeris Input/Output Message ................................................................ 94 30.7 AID-HUI (0x0B 0x02)................................................................................................................. 95 30.7.1 Poll GPS Health, UTC and ionosphere parameters.......................................................... 95 30.7.2 GPS Health, UTC and ionosphere parameters ................................................................. 95 30.8 AID-INI (0x0B 0x01) .................................................................................................................. 96 30.8.1 Poll GPS Initial Aiding Data .............................................................................................. 96 30.8.2 Aiding position, time, frequency, clock drift................................................................... 97 30.9 AID-REQ (0x0B 0x00) ................................................................................................................ 98 30.9.1 Sends a poll (AID-DATA) for all GPS Aiding Data ........................................................... 98 31 CFG (0x06)........................................................................................................................................ 99 31.1 CFG-ANT (0x06 0x13)................................................................................................................ 99 31.1.1 Poll Antenna Control Settings.......................................................................................... 99 31.1.2 Get/Set Antenna Control Settings.................................................................................... 99 31.2 CFG-CFG (0x06 0x09) .............................................................................................................. 100 31.2.1 Clear, Save and Load configurations ............................................................................ 100 31.3 CFG-DAT (0x06 0x06).............................................................................................................. 102 31.3.1 Poll Datum Setting.......................................................................................................... 102 31.3.2 Set Standard Datum........................................................................................................ 102 31.3.3 Set User-defined Datum ................................................................................................. 102 31.3.4 Get currently selected Datum......................................................................................... 103 31.4 CFG-EKF (0x06 0x12)............................................................................................................... 104 31.4.1 Poll EKF Module Settings................................................................................................ 104 31.4.2 Get/Set EKF Module Settings.......................................................................................... 104 31.5 CFG-ESFGWT (0x06 0x29) ....................................................................................................... 106 31.5.1 Get/Set settings of gyro+wheel tick sol (GWT) - LEA-6R............................................... 106 31.6 CFG-FXN (0x06 0x0E) .............................................................................................................. 107 GPS.G6-SW-10018-A Public Release Page vii
Page 1 and 2: u-blox 6 Receiver Description Inclu
Page 3 and 4: Table of Contents Receiver Descript
Page 5: 13.2 Startup Strategies............
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
Page 97 and 98:
29 ACK (0x05) Ack/Nack Messages: i.
Page 99 and 100:
30.1.3 GPS Aiding Almanac Input/Out
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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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