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u-bloxM8_ReceiverDescriptionProtocolSpec_(UBX-13003221)_Public.pdf
Table of Contents
Preface
Document Overview
Receiver Description
Receiver Configuration
Configuration Concept
Organization of the Configuration Sections
Permanent Configuration Storage Media
Receiver Default Configuration
Concurrent GNSS
Navigation Systems
GPS
GLONASS
BeiDou
SBAS
QZSS
IMES
Configuration
Configuring QZSS L1SAIF
SBAS Configuration Settings Description
SBAS (Satellite Based Augmentation Systems)
SBAS Features
SBAS Configuration
IMES Description
IMES Features
Navigation Configuration Settings Description
Platform settings
Navigation Input Filters
Navigation Output Filters
Speed (3-D) Low-pass Filter
Course over Ground Low-pass Filter
Low-speed Course Over Ground Filter
Static Hold
Freezing the Course Over Ground
Degraded Navigation
2D Navigation
Clocks and Time
Receiver Local Time
Navigation Epochs
iTOW Timestamps
UTC Representation
Leap Seconds
Real Time Clock
GPS Week Number Rollover
Serial Communication Ports Description
TX-ready indication
Extended TX timeout
UART Ports
USB Port
DDC Port
Read Access
Read Access Forms
Write Access
SPI Port
Maximum SPI clock speed
Read Access
Back-To-Back Read and Write Access
How to change between protocols
Multiple GNSS Assistance (MGA)
Introduction
Assistance Data
AssistNow Online
Host Software
AssistNow Online Sequence
Flow Control
Authorization
Service Parameters
Position parameters (lat, lon, alt and pacc)
Time parameters (tacc and latency)
Multiple Servers
AssistNow Offline
Service Parameters
Authorization
Multiple Servers
Time, Position and Almanac
Flash-based AssistNow Offline
Flash-based Storage Procedure
Host-based AssistNow Offline
Host-based Procedure
Preserving Information During Power-off
AssistNow Autonomous
Introduction
Concept
Interface
Benefits and Drawbacks
Power Management
Continuous Mode
Power Save Mode
Operation
Acquisition Timeout Logic
ON/OFF operation - long update period
Cyclic tracking operation - short update period
User controlled operation - update and search period of zero
Satellite data download
Configuration
Mode of operation (mode)
Update period (updatePeriod) and search period (searchPeriod)
Minimum Acquisition Time (minAcqTime)
On time (onTime)
Wait for time fix (waitTimeFix)
Maximum Startup State Duration (maxStartupStateDur)
Do not enter '(Inactive) Awaiting Next Search' state when no fix (doNotEnterOff)
Update RTC (updateRTC) and Ephemeris (updateEPH)
EXTINT pin control
Grid offset (gridOffset)
Features
Communication
Wake-up
Behavior while USB host connected
Cooperation with the AssistNow Autonomous feature
Examples
Use Grid Offset
User controlled position fix
Use update periods of 30 minutes
Peak current settings
Power On/Off command
EXTINT pin control when Power Save Mode is not active
Measurement and navigation rate with Power Save Mode
Forcing a Receiver Reset
Receiver Status Monitoring
Input/Output system
Jamming/Interference Indicator
Jamming/Interference Monitor (ITFM)
Remote Inventory
Description
Usage
Time pulse
Introduction
Recommendations
GNSS time bases
Time pulse configuration
Configuring time pulse with UBX-CFG-TP5
Example 1
Example 2
Timemark
Odometer
Introduction
Odometer Output
Odometer Configuration
Resetting the Odometer
Logging
Introduction
Setting the logging system up
Information about the log
Recording
Retrieval
Command message acknowledgement
Time Mode Configuration
Introduction
Fixed Position
Survey-in
Frequency and Timing Synchronization (FTS)
Introduction
Example use cases
Stand-alone synchronization system
Oscillator control via host
Oscillator control via directly-connected DAC
External (coherent) PPS
Synchronization Manager Concept
Oscillator and source specification
Calibration
FTS device Output and Top Of Second (TOS) message
Message transmission time slot reservations on host interfaces
Example setup
Protocol Specification
NMEA Protocol
Protocol Overview
Message Format
Talker ID
Protocol Configuration
Satellite Numbering
Latitude and Longitude Format
Position Fix Flags
Multi-GNSS considerations
Output of Invalid/Unknown Data
Messages Overview
Standard Messages
DTM
Datum Reference
GBQ
Poll a standard message (if the current Talker ID is GB)
GBS
GNSS Satellite Fault Detection
GGA
Global positioning system fix data
GLL
Latitude and longitude, with time of position fix and status
GLQ
Poll a standard message (if the current Talker ID is GL)
GNQ
Poll a standard message (if the current Talker ID is GN)
GNS
GNSS fix data
GPQ
Poll a standard message (if the current Talker ID is GP)
GRS
GNSS Range Residuals
GSA
GNSS DOP and Active Satellites
GST
GNSS Pseudo Range Error Statistics
GSV
GNSS Satellites in View
RMC
Recommended Minimum data
TXT
Text Transmission
VLW
Dual ground/water distance
VTG
Course over ground and Ground speed
ZDA
Time and Date
PUBX Messages
CONFIG (PUBX,41)
Set Protocols and Baudrate
POSITION (PUBX,00)
Lat/Long Position Data
RATE (PUBX,40)
Set NMEA message output rate
SVSTATUS (PUBX,03)
Satellite Status
TIME (PUBX,04)
Time of Day and Clock Information
UBX Protocol
UBX Protocol Key Features
UBX Packet Structure
UBX Payload Definition Rules
Structure Packing
Reserved Elements
Undefined Values
Message Naming
Number Formats
UBX Checksum
UBX Message Flow
Acknowledgement
Polling Mechanism
UBX Satellite Numbering
UBX Class IDs
UBX Messages Overview
UBX-ACK (0x05)
UBX-ACK-ACK (0x05 0x01)
Message Acknowledged
UBX-ACK-NAK (0x05 0x00)
Message Not-Acknowledged
UBX-AID (0x0B)
UBX-AID-ALM (0x0B 0x30)
Poll GPS Aiding Almanac Data
Poll GPS Aiding Almanac Data for a SV
GPS Aiding Almanac Input/Output Message
UBX-AID-AOP (0x0B 0x33)
Poll AssistNow Autonomous data, all satellites
Poll AssistNow Autonomous data, one GPS satellite
AssistNow Autonomous data
UBX-AID-EPH (0x0B 0x31)
Poll GPS Aiding Ephemeris Data
Poll GPS Aiding Ephemeris Data for a SV
GPS Aiding Ephemeris Input/Output Message
UBX-AID-HUI (0x0B 0x02)
Poll GPS Health, UTC, ionosphere parameters
GPS Health, UTC and ionosphere parameters
UBX-AID-INI (0x0B 0x01)
Poll GPS Initial Aiding Data
Aiding position, time, frequency, clock drift
UBX-CFG (0x06)
UBX-CFG-ANT (0x06 0x13)
Poll Antenna Control Settings
Antenna Control Settings
UBX-CFG-CFG (0x06 0x09)
Clear, Save and Load configurations
UBX-CFG-DAT (0x06 0x06)
Poll Datum Setting
Set User-defined Datum
The currently defined Datum
UBX-CFG-DOSC (0x06 0x61)
Poll DOSC settings
Disciplined oscillator configuration
UBX-CFG-ESRC (0x06 0x60)
Poll ESRC settings
External synchronization source configuration
UBX-CFG-GNSS (0x06 0x3E)
Poll the GNSS system configuration
GNSS system configuration
UBX-CFG-INF (0x06 0x02)
Poll configuration for one protocol
Information message configuration
UBX-CFG-ITFM (0x06 0x39)
Poll Jamming/Interference Monitor configuration
Jamming/Interference Monitor configuration
UBX-CFG-LOGFILTER (0x06 0x47)
Poll Data Logger filter Configuration
Data Logger Configuration
UBX-CFG-MSG (0x06 0x01)
Poll a message configuration
Set Message Rate(s)
Set Message Rate
UBX-CFG-NAV5 (0x06 0x24)
Poll Navigation Engine Settings
Navigation Engine Settings
UBX-CFG-NAVX5 (0x06 0x23)
Poll Navigation Engine Expert Settings
Navigation Engine Expert Settings
UBX-CFG-NMEA (0x06 0x17)
Poll the NMEA protocol configuration
NMEA protocol configuration (deprecated)
NMEA protocol configuration V0 (deprecated)
Extended NMEA protocol configuration V1
UBX-CFG-ODO (0x06 0x1E)
Poll Odometer, Low-speed COG Engine Settings
Odometer, Low-speed COG Engine Settings
UBX-CFG-PM2 (0x06 0x3B)
Poll extended Power Mgmt configuration
Extended Power Management configuration
UBX-CFG-PRT (0x06 0x00)
Polls the configuration of the used I/O Port
Polls the configuration for one I/O Port
Port Configuration for UART
Port Configuration for USB Port
Port Configuration for SPI Port
Port Configuration for DDC Port
UBX-CFG-PWR (0x06 0x57)
Put receiver in a defined power state
UBX-CFG-RATE (0x06 0x08)
Poll Navigation/Measurement Rate Settings
Navigation/Measurement Rate Settings
UBX-CFG-RINV (0x06 0x34)
Poll contents of Remote Inventory
Contents of Remote Inventory
UBX-CFG-RST (0x06 0x04)
Reset Receiver / Clear Backup Data Structures
UBX-CFG-RXM (0x06 0x11)
Poll RXM configuration
RXM configuration
UBX-CFG-SBAS (0x06 0x16)
Poll contents of SBAS Configuration
SBAS Configuration
UBX-CFG-SMGR (0x06 0x62)
Poll SMGR settings
Synchronization manager configuration
UBX-CFG-TMODE2 (0x06 0x3D)
Poll Time Mode Settings
Time Mode Settings 2
UBX-CFG-TP5 (0x06 0x31)
Poll Time Pulse Parameters
Poll Time Pulse Parameters
Time Pulse Parameters
Time Pulse Parameters
UBX-CFG-TXSLOT (0x06 0x53)
TX buffer time slots configuration
UBX-CFG-USB (0x06 0x1B)
Poll a USB configuration
USB Configuration
UBX-INF (0x04)
UBX-INF-DEBUG (0x04 0x04)
ASCII output with debug contents
UBX-INF-ERROR (0x04 0x00)
ASCII output with error contents
UBX-INF-NOTICE (0x04 0x02)
ASCII output with informational contents
UBX-INF-TEST (0x04 0x03)
ASCII output with test contents
UBX-INF-WARNING (0x04 0x01)
ASCII output with warning contents
UBX-LOG (0x21)
UBX-LOG-CREATE (0x21 0x07)
Create Log File
UBX-LOG-ERASE (0x21 0x03)
Erase Logged Data
UBX-LOG-FINDTIME (0x21 0x0E)
Find index of the first log entry <= given time
Response to FINDTIME request.
UBX-LOG-INFO (0x21 0x08)
Poll for log information
Log information
UBX-LOG-RETRIEVEPOSEXTRA (0x21 0x0f)
Odometer log entry
UBX-LOG-RETRIEVEPOS (0x21 0x0b)
Position fix log entry
UBX-LOG-RETRIEVESTRING (0x21 0x0d)
Byte string log entry
UBX-LOG-RETRIEVE (0x21 0x09)
Request log data
UBX-LOG-STRING (0x21 0x04)
Store arbitrary string in on-board flash
UBX-MGA (0x13)
UBX-MGA-ACK (0x13 0x60)
UBX-MGA-ACK-DATA0
UBX-MGA-ANO (0x13 0x20)
Multi-GNSS AssistNow Offline Assistance
UBX-MGA-DBD (0x13 0x80)
Poll the Navigation Database
Navigation Database Dump Entry
UBX-MGA-FLASH (0x13 0x21)
UBX-MGA-FLASH-DATA
UBX-MGA-FLASH-STOP
UBX-MGA-FLASH-ACK
UBX-MGA-GLO (0x13 0x06)
UBX-MGA-GLO-EPH
UBX-MGA-GLO-ALM
UBX-MGA-GLO-TIMEOFFSET
UBX-MGA-GPS (0x13 0x00)
UBX-MGA-GPS-EPH
UBX-MGA-GPS-ALM
UBX-MGA-GPS-HEALTH
UBX-MGA-GPS-UTC
UBX-MGA-GPS-IONO
UBX-MGA-INI (0x13 0x40)
UBX-MGA-INI-POS_XYZ
UBX-MGA-INI-POS_LLH
UBX-MGA-INI-TIME_UTC
UBX-MGA-INI-TIME_GNSS
UBX-MGA-INI-CLKD
UBX-MGA-INI-FREQ
UBX-MGA-INI-EOP
UBX-MGA-QZSS (0x13 0x05)
UBX-MGA-QZSS-EPH
UBX-MGA-QZSS-ALM
UBX-MGA-QZSS-HEALTH
UBX-MON (0x0A)
UBX-MON-GNSS (0x0A 0x28)
Information message GNSS selection
UBX-MON-HW2 (0x0A 0x0B)
Extended Hardware Status
UBX-MON-HW (0x0A 0x09)
Hardware Status
UBX-MON-IO (0x0A 0x02)
I/O Subsystem Status
UBX-MON-MSGPP (0x0A 0x06)
Message Parse and Process Status
UBX-MON-PATCH (0x0A 0x27)
Poll Request for installed patches
Output information about installed patches.
UBX-MON-RXBUF (0x0A 0x07)
Receiver Buffer Status
UBX-MON-RXR (0x0A 0x21)
Receiver Status Information
UBX-MON-SMGR (0x0A 0x2E)
Synchronization Manager Status
UBX-MON-TXBUF (0x0A 0x08)
Transmitter Buffer Status
UBX-MON-VER (0x0A 0x04)
Poll Receiver/Software Version
Receiver/Software Version
UBX-NAV (0x01)
UBX-NAV-AOPSTATUS (0x01 0x60)
AssistNow Autonomous Status
UBX-NAV-CLOCK (0x01 0x22)
Clock Solution
UBX-NAV-DGPS (0x01 0x31)
DGPS Data Used for NAV
UBX-NAV-DOP (0x01 0x04)
Dilution of precision
UBX-NAV-ODO (0x01 0x09)
Odometer Solution
UBX-NAV-ORB (0x01 0x34)
GNSS Orbit Database Info
UBX-NAV-POSECEF (0x01 0x01)
Position Solution in ECEF
UBX-NAV-POSLLH (0x01 0x02)
Geodetic Position Solution
UBX-NAV-PVT (0x01 0x07)
Navigation Position Velocity Time Solution
UBX-NAV-RESETODO (0x01 0x10)
Reset odometer
UBX-NAV-SAT (0x01 0x35)
Satellite Information
UBX-NAV-SBAS (0x01 0x32)
SBAS Status Data
UBX-NAV-SOL (0x01 0x06)
Navigation Solution Information
UBX-NAV-STATUS (0x01 0x03)
Receiver Navigation Status
UBX-NAV-SVINFO (0x01 0x30)
Space Vehicle Information
UBX-NAV-TIMEBDS (0x01 0x24)
BDS Time Solution
UBX-NAV-TIMEGLO (0x01 0x23)
GLO Time Solution
UBX-NAV-TIMEGPS (0x01 0x20)
GPS Time Solution
UBX-NAV-TIMEUTC (0x01 0x21)
UTC Time Solution
UBX-NAV-VELECEF (0x01 0x11)
Velocity Solution in ECEF
UBX-NAV-VELNED (0x01 0x12)
Velocity Solution in NED
UBX-RXM (0x02)
UBX-RXM-PMREQ (0x02 0x41)
Requests a Power Management task
UBX-RXM-RAWX (0x02 0x15)
Multi-GNSS Raw Measurement Data
UBX-RXM-SFRBX (0x02 0x13)
Raw Subframe Data
UBX-RXM-SVSI (0x02 0x20)
SV Status Info
UBX-TIM (0x0D)
UBX-TIM-DOSC (0x0D 0x11)
Disciplined oscillator control
UBX-TIM-FCHG (0x0D 0x16)
Oscillator frequency changed notification
UBX-TIM-HOC (0x0D 0x17)
Host oscillator control
UBX-TIM-SMEAS (0x0D 0x13)
Source measurement
UBX-TIM-SVIN (0x0D 0x04)
Survey-in data
UBX-TIM-TM2 (0x0D 0x03)
Time mark data
UBX-TIM-TOS (0x0D 0x12)
Time Pulse Time and Frequency Data
UBX-TIM-TP (0x0D 0x01)
Time Pulse Timedata
UBX-TIM-VCOCAL (0x0D 0x15)
VCO calibration extended command
Results of the calibration
UBX-TIM-VRFY (0x0D 0x06)
Sourced Time Verification
UBX-UPD (0x09)
UBX-UPD-SOS (0x09 0x14)
Poll Backup File Restore Status
Create Backup File in Flash
Clear Backup in Flash
Backup File Creation Acknowledge
System Restored from Backup
RTCM Protocol
Introduction
Supported Messages
Configuration
Output
Restrictions
Reference
Appendix
Protocol Versions
Supported Protocol Versions
Satellite Numbering
u-blox M8 Default Settings
Antenna Supervisor Settings (UBX-CFG-ANT)
Datum Settings (UBX-CFG-DAT)
Navigation Settings (UBX-CFG-NAV5)
Navigation Settings (UBX-CFG-NAVX5)
Output Rates (UBX-CFG-RATE)
Power Management 2 Configuration (UBX-CFG-PM2)
Receiver Manager Configuration (UBX-CFG-RXM)
GNSS system configuration (UBX-CFG-GNSS)
SBAS Configuration (UBX-CFG-SBAS)
Port Configuration (UBX-CFG-PRT)
UART Port Configuration
USB Port Configuration
SPI Port Configuration
DDC Port Configuration
USB Settings (UBX-CFG-USB)
Message Settings (UBX-CFG-MSG)
NMEA Protocol Settings (UBX-CFG-NMEA)
Logging Configuration (UBX-CFG-LOGFILTER)
Remote Inventory (UBX-CFG-RINV)
INF Messages Settings (UBX-CFG-INF)
Timepulse Settings (UBX-CFG-TP5)
Jammer/Interference Monitor (UBX-CFG-ITFM)
u-blox M8 Standard firmware versions
Related Documents
Overview
Revision History
Contact
u-blox Offices
u-blox M8
Receiver Description
Including Protocol Specification
Abstract
The Receiver Description Including Protocol Specification
describes the firmware features, specifications and configuration
for u-blox M8 high performance positioning modules.
The Receiver Description provides an overview and conceptual
details of the supported features.
The Protocol Specification describes the NMEA and RTCM
protocols as well as the UBX protocol (version 15.00 up to and
including version 17.00) and serves as a reference manual. It
includes the FTS, Raw Data and Timing product variants.
www.u-blox.com
UBX-13003221 - R08
u-blox M8 Receiver Description - Manual
Document Information
Title
Subtitle
u-blox M8 Receiver Description
Including Protocol Specification v15.00-17.00
Document type
Manual
Document number
UBX-13003221
Revision and date
R08 (88183)
4 December 2014
Document status
Early Production Information
Document status explanation
Objective Specification
Document contains target values. Revised and supplementary data will be published later.
Advance Information
Document contains data based on early testing. Revised and supplementary data will be published later.
Early Production Information
Document contains data from product verification. Revised and supplementary data may be published later.
Production Information
Document contains the final product specification.
This document applies to the following products:
Product name
Type number
ROM/FLASH version
PCN reference
MAX-M8C
MAX-M8Q
MAX-M8C-0-01
MAX-M8Q-0-00
MAX-M8W
MAX-M8W-0-00
ROM 2.01
ROM 2.01
ROM 2.01
N/A
N/A
N/A
N/A
N/A
N/A
NEO-M8N
NEO-M8M
NEO-M8Q
NEO-M8T
LEA-M8F
LEA-M8S
LEA-M8T
NEO-M8N-0-01
ROM 2.01 / FLASH 2.01
NEO-M8M-0-00
NEO-M8Q-0-00
ROM 2.01
ROM 2.01
NEO-M8T-0-00
ROM 2.01 / FLASH 2.30 TIM RAW 1.01 N/A
LEA-M8F-0-00
LEA-M8S-0-00
LEA-M8T-0-00
ROM 2.01 / FLASH 2.20 FTS 1.01
ROM 2.01
N/A
N/A
ROM 2.01 / FLASH 2.30 TIM RAW 1.01 N/A
CAM-M8Q
CAM-M8Q-0-00
ROM 2.01
N/A
UBX-13003221 - R08
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u-blox M8 Receiver Description - Manual
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 property rights. Reproduction, use, modification or disclosure to third parties of this document
or any part thereof without the express permission of u-blox is strictly prohibited.
The information contained herein is provided “as is” and u-blox assumes no liability for the use of the information. No warranty, either
express or implied, is given, including but not limited, with respect to the accuracy, correctness, reliability and fitness for a particular
purpose of the information. This document may be revised by u-blox at any time. For most recent documents, please visit www.u-blox.com.
Copyright © 2014, u-blox AG.
u-blox® is a registered trademark of u-blox Holding AG in the EU and other countries. ARM® is the registered trademark of ARM Limited
in the EU and other countries.
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u-blox M8 Receiver Description - Manual
Table of Contents
Preface .......................................................................................................................................................... 1
1 Document Overview........................................................................................................................... 1
Receiver Description .................................................................................................................................... 2
2 Receiver Configuration....................................................................................................................... 2
2.1 Configuration Concept ................................................................................................................ 2
2.2 Organization of the Configuration Sections .............................................................................. 3
2.3 Permanent Configuration Storage Media .................................................................................. 4
2.4 Receiver Default Configuration .................................................................................................. 4
3 Concurrent GNSS................................................................................................................................. 4
3.1 Navigation Systems ...................................................................................................................... 4
3.1.1 GPS ......................................................................................................................................... 4
3.1.2 GLONASS................................................................................................................................ 4
3.1.3 BeiDou ................................................................................................................................... 5
3.1.4 SBAS ....................................................................................................................................... 5
3.1.5 QZSS ....................................................................................................................................... 5
3.1.6 IMES ....................................................................................................................................... 5
3.2 Configuration ............................................................................................................................... 5
3.2.1 Configuring QZSS L1SAIF ...................................................................................................... 5
4 SBAS Configuration Settings Description ......................................................................................... 6
4.1 SBAS (Satellite Based Augmentation Systems)........................................................................... 6
4.2 SBAS Features ............................................................................................................................... 7
4.3 SBAS Configuration...................................................................................................................... 8
5 IMES Description ................................................................................................................................. 9
5.1 IMES Features ............................................................................................................................... 9
6 Navigation Configuration Settings Description................................................................................ 9
6.1 Platform settings .......................................................................................................................... 9
6.2 Navigation Input Filters ............................................................................................................. 10
6.3 Navigation Output Filters .......................................................................................................... 11
6.3.1 Speed (3-D) Low-pass Filter ................................................................................................ 11
6.3.2 Course over Ground Low-pass Filter .................................................................................. 11
6.3.3 Low-speed Course Over Ground Filter............................................................................... 12
6.4 Static Hold .................................................................................................................................. 12
6.5 Freezing the Course Over Ground ............................................................................................ 12
6.6 Degraded Navigation................................................................................................................. 12
6.6.1 2D Navigation...................................................................................................................... 12
7 Clocks and Time................................................................................................................................. 12
7.1 Receiver Local Time.................................................................................................................... 13
7.2 Navigation Epochs...................................................................................................................... 13
7.3 iTOW Timestamps ...................................................................................................................... 14
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7.4 UTC Representation ................................................................................................................... 14
7.5 Leap Seconds .............................................................................................................................. 15
7.6 Real Time Clock .......................................................................................................................... 15
7.7 GPS Week Number Rollover ...................................................................................................... 15
8 Serial Communication Ports Description ......................................................................................... 16
8.1 TX-ready indication.................................................................................................................... 16
8.2 Extended TX timeout ................................................................................................................. 16
8.3 UART Ports.................................................................................................................................. 17
8.4 USB Port ...................................................................................................................................... 17
8.5 DDC Port ..................................................................................................................................... 18
8.5.1 Read Access.......................................................................................................................... 18
8.5.2 Write Access......................................................................................................................... 20
8.6 SPI Port........................................................................................................................................ 21
8.6.1 Maximum SPI clock speed................................................................................................... 21
8.6.2 Read Access.......................................................................................................................... 21
8.6.3 Back-To-Back Read and Write Access................................................................................. 21
8.7 How to change between protocols........................................................................................... 22
9 Multiple GNSS Assistance (MGA)..................................................................................................... 22
9.1 Introduction................................................................................................................................ 22
9.2 Assistance Data........................................................................................................................... 22
9.3 AssistNow Online ....................................................................................................................... 23
9.3.1 Host Software...................................................................................................................... 24
9.3.2 AssistNow Online Sequence ............................................................................................... 24
9.3.3 Flow Control ........................................................................................................................ 25
9.3.4 Authorization ...................................................................................................................... 25
9.3.5 Service Parameters .............................................................................................................. 25
9.3.6 Multiple Servers................................................................................................................... 27
9.4 AssistNow Offline....................................................................................................................... 27
9.4.1 Service Parameters .............................................................................................................. 28
9.4.2 Authorization ...................................................................................................................... 29
9.4.3 Multiple Servers................................................................................................................... 29
9.4.4 Time, Position and Almanac ............................................................................................... 29
9.4.5 Flash-based AssistNow Offline ........................................................................................... 29
9.4.6 Host-based AssistNow Offline ............................................................................................ 30
9.5 Preserving Information During Power-off................................................................................ 31
9.6 AssistNow Autonomous............................................................................................................. 31
9.6.1 Introduction......................................................................................................................... 31
9.6.2 Concept................................................................................................................................ 32
9.6.3 Interface............................................................................................................................... 33
9.6.4 Benefits and Drawbacks ..................................................................................................... 34
10 Power Management ....................................................................................................................... 35
10.1 Continuous Mode..................................................................................................................... 36
10.2 Power Save Mode..................................................................................................................... 36
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10.2.1 Operation .......................................................................................................................... 36
10.2.2 Configuration .................................................................................................................... 39
10.2.3 Features ............................................................................................................................. 42
10.2.4 Examples ............................................................................................................................ 43
10.3 Peak current settings ............................................................................................................... 43
10.4 Power On/Off command.......................................................................................................... 43
10.5 EXTINT pin control when Power Save Mode is not active..................................................... 44
10.6 Measurement and navigation rate with Power Save Mode.................................................. 44
11 Forcing a Receiver Reset................................................................................................................. 44
12 Receiver Status Monitoring............................................................................................................ 45
12.1 Input/Output system ................................................................................................................ 45
12.2 Jamming/Interference Indicator.............................................................................................. 46
12.3 Jamming/Interference Monitor (ITFM) ................................................................................... 46
13 Remote Inventory ........................................................................................................................... 47
13.1 Description................................................................................................................................ 47
13.2 Usage ........................................................................................................................................ 47
14 Time pulse ....................................................................................................................................... 47
14.1 Introduction.............................................................................................................................. 47
14.2 Recommendations.................................................................................................................... 48
14.3 GNSS time bases ....................................................................................................................... 49
14.4 Time pulse configuration......................................................................................................... 49
14.5 Configuring time pulse with UBX-CFG-TP5 ............................................................................ 50
14.5.1 Example 1 .......................................................................................................................... 50
14.5.2 Example 2 .......................................................................................................................... 51
15 Timemark......................................................................................................................................... 52
16 Odometer ........................................................................................................................................ 52
16.1 Introduction.............................................................................................................................. 52
16.2 Odometer Output .................................................................................................................... 53
16.3 Odometer Configuration......................................................................................................... 53
16.4 Resetting the Odometer .......................................................................................................... 53
17 Logging............................................................................................................................................ 53
17.1 Introduction.............................................................................................................................. 53
17.2 Setting the logging system up ................................................................................................ 54
17.3 Information about the log ...................................................................................................... 55
17.4 Recording.................................................................................................................................. 55
17.5 Retrieval.................................................................................................................................... 56
17.6 Command message acknowledgement .................................................................................. 57
18 Time Mode Configuration .............................................................................................................. 57
18.1 Introduction.............................................................................................................................. 57
18.2 Fixed Position ........................................................................................................................... 57
18.3 Survey-in ................................................................................................................................... 57
19 Frequency and Timing Synchronization (FTS)............................................................................... 58
19.1 Introduction.............................................................................................................................. 58
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19.2 Example use cases .................................................................................................................... 59
19.2.1 Stand-alone synchronization system................................................................................ 59
19.2.2 Oscillator control via host................................................................................................. 60
19.2.3 Oscillator control via directly-connected DAC................................................................. 60
19.2.4 External (coherent) PPS..................................................................................................... 61
19.3 Synchronization Manager Concept......................................................................................... 62
19.4 Oscillator and source specification.......................................................................................... 63
19.5 Calibration ................................................................................................................................ 64
19.6 FTS device Output and Top Of Second (TOS) message .......................................................... 65
19.7 Message transmission time slot reservations on host interfaces........................................... 66
19.7.1 Example setup ................................................................................................................... 66
Protocol Specification ................................................................................................................................ 68
20 NMEA Protocol ................................................................................................................................ 68
20.1 Protocol Overview.................................................................................................................... 68
20.1.1 Message Format ................................................................................................................ 68
20.1.2 Talker ID............................................................................................................................. 68
20.1.3 Protocol Configuration ..................................................................................................... 69
20.1.4 Satellite Numbering .......................................................................................................... 70
20.1.5 Latitude and Longitude Format ....................................................................................... 70
20.1.6 Position Fix Flags ............................................................................................................... 71
20.1.7 Multi-GNSS considerations ............................................................................................... 71
20.1.8 Output of Invalid/Unknown Data .................................................................................... 72
20.1.9 Messages Overview ........................................................................................................... 72
20.2 Standard Messages................................................................................................................... 74
20.2.1 DTM.................................................................................................................................... 74
20.2.2 GBQ .................................................................................................................................... 75
20.2.3 GBS ..................................................................................................................................... 75
20.2.4 GGA.................................................................................................................................... 76
20.2.5 GLL ..................................................................................................................................... 78
20.2.6 GLQ .................................................................................................................................... 79
20.2.7 GNQ.................................................................................................................................... 79
20.2.8 GNS..................................................................................................................................... 80
20.2.9 GPQ .................................................................................................................................... 81
20.2.10 GRS ................................................................................................................................... 81
20.2.11 GSA................................................................................................................................... 82
20.2.12 GST ................................................................................................................................... 83
20.2.13 GSV................................................................................................................................... 84
20.2.14 RMC.................................................................................................................................. 85
20.2.15 TXT ................................................................................................................................... 86
20.2.16 VLW.................................................................................................................................. 87
20.2.17 VTG................................................................................................................................... 88
20.2.18 ZDA .................................................................................................................................. 89
20.3 PUBX Messages......................................................................................................................... 90
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20.3.1 CONFIG (PUBX,41) ............................................................................................................. 90
20.3.2 POSITION (PUBX,00) .......................................................................................................... 91
20.3.3 RATE (PUBX,40) ................................................................................................................. 92
20.3.4 SVSTATUS (PUBX,03) ......................................................................................................... 93
20.3.5 TIME (PUBX,04).................................................................................................................. 94
21 UBX Protocol.................................................................................................................................... 95
21.1 UBX Protocol Key Features ...................................................................................................... 95
21.2 UBX Packet Structure ............................................................................................................... 95
21.3 UBX Payload Definition Rules ................................................................................................. 96
21.3.1 Structure Packing .............................................................................................................. 96
21.3.2 Reserved Elements ............................................................................................................ 96
21.3.3 Undefined Values.............................................................................................................. 96
21.3.4 Message Naming ............................................................................................................... 96
21.3.5 Number Formats................................................................................................................ 96
21.4 UBX Checksum.......................................................................................................................... 97
21.5 UBX Message Flow ................................................................................................................... 97
21.5.1 Acknowledgement............................................................................................................ 97
21.5.2 Polling Mechanism ............................................................................................................ 98
21.6 UBX Satellite Numbering......................................................................................................... 98
21.7 UBX Class IDs ............................................................................................................................ 98
21.8 UBX Messages Overview........................................................................................................ 100
21.9 UBX-ACK (0x05)...................................................................................................................... 105
21.9.1 UBX-ACK-ACK (0x05 0x01).............................................................................................. 105
21.9.2 UBX-ACK-NAK (0x05 0x00) ............................................................................................. 105
21.10 UBX-AID (0x0B)..................................................................................................................... 106
21.10.1 UBX-AID-ALM (0x0B 0x30)............................................................................................ 106
21.10.2 UBX-AID-AOP (0x0B 0x33) ............................................................................................ 107
21.10.3 UBX-AID-EPH (0x0B 0x31) ............................................................................................. 109
21.10.4 UBX-AID-HUI (0x0B 0x02) ............................................................................................. 111
21.10.5 UBX-AID-INI (0x0B 0x01) ............................................................................................... 113
21.11 UBX-CFG (0x06) .................................................................................................................... 116
21.11.1 UBX-CFG-ANT (0x06 0x13) ............................................................................................ 116
21.11.2 UBX-CFG-CFG (0x06 0x09)............................................................................................. 117
21.11.3 UBX-CFG-DAT (0x06 0x06) ............................................................................................ 119
21.11.4 UBX-CFG-DOSC (0x06 0x61) .......................................................................................... 121
21.11.5 UBX-CFG-ESRC (0x06 0x60) ........................................................................................... 123
21.11.6 UBX-CFG-GNSS (0x06 0x3E)........................................................................................... 125
21.11.7 UBX-CFG-INF (0x06 0x02) .............................................................................................. 127
21.11.8 UBX-CFG-ITFM (0x06 0x39) ........................................................................................... 128
21.11.9 UBX-CFG-LOGFILTER (0x06 0x47) ................................................................................. 130
21.11.10 UBX-CFG-MSG (0x06 0x01).......................................................................................... 131
21.11.11 UBX-CFG-NAV5 (0x06 0x24)........................................................................................ 133
21.11.12 UBX-CFG-NAVX5 (0x06 0x23) ..................................................................................... 135
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