U-blox 5 NMEA, UBX Protocol Specification
u-blox AGZürcherstrasse 688800 ThalwilSwitzerlandwww.u-blox.comPhone 41 44 722 7444Fax 41 44 722 7447info@u-blox.comu-blox 5NMEA, UBX Protocol Specificationu-blox 5 GNSS ReceiverSpecificationPublic Release
TitleNMEA, UBX Protocol SpecificationSubtitleu-blox 5 GNSS ReceiverDoc TypeSpecificationDoc IdGPS.G5-X-07036-ERevisionDateAuthorStatus / Comment3138923 Dec 2008EFInclusion of table of contents and update to FW 5Public ReleaseThis document and the use of any information contained therein, is subject to the acceptance of the u-bloxterms and conditions. They can be downloaded from www.u-blox.com. u-blox makes no warranties based onthe accuracy or completeness of the contents of this document and reserves the right to make changes tospecifications and product descriptions at any time without notice. u-blox reserves all rights to this documentand the information contained herein. Reproduction, use or disclosure to third parties without expresspermission is strictly prohibited. Copyright 2008, u-blox AG.For most recent documents, please visit www.u-blox.comNMEA, UBX Protocol Specification, u-blox 5 GNSS ReceiverGPS.G5-X-07036-EPublic Release
Table of ContentsReceiver Description . 1Overview. 1Receiver Configuration . 1Serial Communication. 1Navigation and SBAS . 1Acquisition and Aiding . 1Power Modes. 1Timing. 1Antenna / Antenna Supervision . 2System. 2Serial Communication Ports Description . 2UART Ports. 2USB Port . 3DDC Port . 3Read Access . 3Random Read Access . 4Current Address Read. 5Write Access . 5SPI Port. 6Read Access . 6Back-To-Back Read and Write Access . 7How to change between protocols. 7Forcing a Receiver Reset . 7Geodetic Datum . 8Predefined Datum. 8Ellipsoids . 14Rotation and Scale . 15Timepulse Configuration . 15Receiver Configuration . 17Configuration Concept . 17Organization of the Configuration Sections . 18Permanent Configuration Storage Media . 19Receiver Default Configuration . 19Power Modes for Acquisition Engine . 19Maximum Performance Mode . 19Eco Mode . 20SBAS Configuration Settings Description . 20SBAS (Satellite Based Augmentation Systems). 20SBAS Features . 21SBAS Configuration . 23NMEA, UBX Protocol Specification, u-blox 5 GNSS ReceiverGPS.G5-X-07036-EPublic ReleaseTable of ContentsPage iii
NMEA Protocol Configuration . 23Time Mode Configuration . 24Introduction . 24Fixed Position . 24Survey-in . 24Navigation Configuration Settings Description . 25Platform settings . 25Navigation Input Filters . 26Navigation Output Filters . 26Static Hold . 26Degraded Navigation . 272D Navigation . 27Dead Reckoning, Extrapolating Positioning . 27Receiver Status Monitoring . 27Input/Output system . 27Aiding and Acquisition . 28Introduction . 28Startup Strategies . 28Aiding / Assisted GPS (AGPS) . 29Aiding Data . 29Aiding Sequence . 29AssistNow Online . 30AssistNow Offline. 30Host-based AlmanacPlus Overview . 31Message specifics . 32Range checks . 32Changing ALP files . 32Sample Code. 33Flash-based AlmanacPlus Overview . 33Download Procedure . 33NMEA Protocol . 34Protocol Overview. 34Latitude and Longitude Format . 35Position Fix Flags in NMEA Mode. 36NMEA Messages Overview . 37Standard Messages. 38GGA. 38GLL . 40GSA . 41GSV. 42RMC. 43VTG . 44GRS. 45GST . 46NMEA, UBX Protocol Specification, u-blox 5 GNSS ReceiverGPS.G5-X-07036-EPublic ReleaseTable of ContentsPage iv
ZDA . 47GBS. 48DTM . 49GPQ . 50TXT . 51Proprietary Messages . 52UBX,00 . 52UBX,03 . 54UBX,04 . 56UBX . 57UBX,40 . 58UBX,41 . 59UBX Protocol. 60UBX Protocol Key Features . 60UBX Packet Structure . 60UBX Class IDs . 60UBX Payload Definition Rules . 61Structure Packing . 61Message Naming . 61Number Formats . 61UBX Checksum. 62UBX Message Flow . 62Acknowledgement. 62Polling Mechanism . 62UBX Messages Overview. 63NAV (0x01). 66NAV-POSECEF (0x01 0x01) . 66Position Solution in ECEF . 66NAV-POSLLH (0x01 0x02) . 66Geodetic Position Solution . 66NAV-STATUS (0x01 0x03) . 67Receiver Navigation Status . 67NAV-DOP (0x01 0x04) . 68Dilution of precision . 68NAV-SOL (0x01 0x06) . 69Navigation Solution Information. 69NAV-VELECEF (0x01 0x11) . 70Velocity Solution in ECEF . 70NAV-VELNED (0x01 0x12) . 71Velocity Solution in NED . 71NAV-TIMEGPS (0x01 0x20) . 71GPS Time Solution . 71NAV-TIMEUTC (0x01 0x21) . 72UTC Time Solution . 72NMEA, UBX Protocol Specification, u-blox 5 GNSS ReceiverGPS.G5-X-07036-EPublic ReleaseTable of ContentsPage v
NAV-CLOCK (0x01 0x22) . 73Clock Solution . 73NAV-SVINFO (0x01 0x30) . 73Space Vehicle Information . 73NAV-SBAS (0x01 0x32) . 75SBAS Status Data .
u-blox AG Zürcherstrasse 68 8800 Thalwil Switzerland www.u-blox.com Phone 41 44 722 7444 Fax 41 44 722 7447 info@u-blox.com u-blox 5 NMEA, UBX Protocol Specification u
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