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u-blox6_ReceiverDescriptionProtocolSpec_GPS.G6-SW-10018-C-GPS模组官方资料.pdf
Table of Contents
Receiver Description
Overview
Navigation Configuration Settings Description
Platform settings
Navigation Input Filters
Navigation Output Filters
Static Hold
Freezing the Course Over Ground
Degraded Navigation
2D Navigation
Dead Reckoning, Extrapolating Positioning
SBAS Configuration Settings Description
SBAS (Satellite Based Augmentation Systems)
SBAS Features
SBAS Configuration
Serial Communication Ports Description
UART Ports
USB Port
DDC Port
Read Access
Random Read Access
Current Address Read
Write Access
SPI Port
Read Access
Back-To-Back Read and Write Access
How to change between protocols
Receiver Configuration
Configuration Concept
Organization of the Configuration Sections
Permanent Configuration Storage Media
Receiver Default Configuration
NMEA Protocol Configuration
Forcing a Receiver Reset
Remote Inventory
Description
Usage
Power Management
Maximum Performance Mode
Eco Mode
Power Save Mode
Operation
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
Update and search period
Acquisition timeout
On time and wait for timefix
Do not enter 'inactive for search' state when no fix
Update RTC and Eph
EXTINT pin control
Grid offset
Communication, wake-up, FixNow interface, USB and AssistNow Autonomous
Communication
Wake-up
FixNow interface
behavior while USB host connected
Cooperation with the AssistNow Autonomous feature
Examples
Use Grid Offset
Use update periods of zero
Peak current settings
Power On/Off command
Time Mode Configuration
Introduction
Fixed Position
Survey-in
Timepulse
Recommendations
Timepulse Configuration (u-blox 6)
Configuring Timpulse with UBX-CFG-TP5
Example 1:
Example 2:
Configuring Timpulse with UBX-CFG-TP
Example:
Receiver Status Monitoring
Input/Output system
Jamming/Interference Indicator
Jamming/Interference Monitor
Aiding and Acquisition
Introduction
Startup Strategies
Aiding / Assisted GPS (A-GPS)
Aiding Data
Aiding Sequence
AssistNow Online
AssistNow Offline
Flash-based AlmanacPlus Overview
Download Procedure
Host-based AlmanacPlus Overview
Message specifics
Range checks
Changing ALP files
Sample Code
AssistNow Autonomous
Introduction
Concept
Interface
Benefits and Drawbacks
Precise Point Positioning
Introduction
Configuration
Monitoring
Automotive Dead Reckoning (ADR)
Introduction
Timing
First Byte Reception
Time Mark on External Input
Latency
Setup recommendations
GPS antenna placement, gyro placement and single tick origin
Startup/Shutdown integration guideline
Navigation and measurement rate recommendations
ESF Measurement Data (LEA-6R)
Gyro and Wheel Tick (GWT) Solution Configuration (LEA-6R)
Attached Gyroscope and Analog Wheel Ticks
Using Serial Wheel Ticks
NMEA Protocol
Protocol Overview
Latitude and Longitude Format
Position Fix Flags in NMEA Mode
NMEA Messages Overview
Standard Messages
DTM
GBS
GGA
GLL
GPQ
GRS
GSA
GST
GSV
RMC
TXT
VTG
ZDA
Proprietary Messages
UBX,00
UBX,00
UBX,03
UBX,03
UBX,04
UBX,04
UBX,05
UBX,05
UBX,06
UBX,06
UBX,40
UBX,40
UBX,41
UBX,41
UBX Protocol
UBX Protocol Key Features
UBX Packet Structure
UBX Class IDs
UBX Payload Definition Rules
Structure Packing
Message Naming
Number Formats
UBX Checksum
UBX Message Flow
Acknowledgement
Polling Mechanism
UBX Messages Overview
ACK (0x05)
ACK-ACK (0x05 0x01)
Message Acknowledged
ACK-NAK (0x05 0x00)
Message Not-Acknowledged
AID (0x0B)
AID-ALM (0x0B 0x30)
Poll GPS Aiding Almanac Data
Poll GPS Aiding Almanac Data for a SV
GPS Aiding Almanac Input/Output Message
AID-ALPSRV (0x0B 0x32)
ALP client requests AlmanacPlus data from server
ALP server sends AlmanacPlus data to client
ALP client sends AlmanacPlus data to server.
AID-ALP (0x0B 0x50)
ALP file data transfer to the receiver
Mark end of data transfer
Acknowledges a data transfer
Indicate problems with a data transfer
Poll the AlmanacPlus status
AID-AOP (0x0B 0x33)
Poll AssistNow Autonomous data
Poll AssistNow Autonomous data for one satellite
AssistNow Autonomous data
AID-DATA (0x0B 0x10)
Polls all GPS Initial Aiding Data
AID-EPH (0x0B 0x31)
Poll GPS Aiding Ephemeris Data
Poll GPS Aiding Ephemeris Data for a SV
GPS Aiding Ephemeris Input/Output Message
AID-HUI (0x0B 0x02)
Poll GPS Health, UTC and ionosphere parameters
GPS Health, UTC and ionosphere parameters
AID-INI (0x0B 0x01)
Poll GPS Initial Aiding Data
Aiding position, time, frequency, clock drift
AID-REQ (0x0B 0x00)
Sends a poll (AID-DATA) for all GPS Aiding Data
CFG (0x06)
CFG-ANT (0x06 0x13)
Poll Antenna Control Settings
Get/Set Antenna Control Settings
CFG-CFG (0x06 0x09)
Clear, Save and Load configurations
CFG-DAT (0x06 0x06)
Poll Datum Setting
Set Standard Datum
Set User-defined Datum
Get currently selected Datum
CFG-EKF (0x06 0x12)
Poll EKF Module Settings
Get/Set EKF Module Settings - LEA-6R
CFG-ESFGWT (0x06 0x29)
Get/Set settings of gyro+wheel tick sol (GWT) - LEA-6R
CFG-FXN (0x06 0x0E)
Poll FXN configuration
RXM FixNOW configuration.
CFG-INF (0x06 0x02)
Poll INF message configuration for one protocol
Information message configuration
CFG-ITFM (0x06 0x39)
Jamming/Interference Monitor configuration.
CFG-MSG (0x06 0x01)
Poll a message configuration
Set Message Rate(s)
Set Message Rate
CFG-NAV5 (0x06 0x24)
Poll Navigation Engine Settings
Get/Set Navigation Engine Settings
CFG-NAVX5 (0x06 0x23)
Poll Navigation Engine Expert Settings
Get/Set Navigation Engine Expert Settings
CFG-NMEA (0x06 0x17)
Poll the NMEA protocol configuration
Set/Get the NMEA protocol configuration
CFG-NVS (0x06 0x22)
Clear, Save and Load non-volatile storage data
CFG-PM2 (0x06 0x3B)
Poll extended Power Management configuration
Extended Power Management configuration
CFG-PM (0x06 0x32)
Poll Power Management configuration
Power Management configuration
CFG-PRT (0x06 0x00)
Polls the configuration of the used I/O Port
Polls the configuration for one I/O Port
Get/Set Port Configuration for UART
Get/Set Port Configuration for USB Port
Get/Set Port Configuration for SPI Port
Get/Set Port Configuration for DDC Port
CFG-RATE (0x06 0x08)
Poll Navigation/Measurement Rate Settings
Navigation/Measurement Rate Settings
CFG-RINV (0x06 0x34)
Poll contents of Remote Inventory
Set/Get contents of Remote Inventory
CFG-RST (0x06 0x04)
Reset Receiver / Clear Backup Data Structures
CFG-RXM (0x06 0x11)
Poll RXM configuration
RXM configuration
CFG-SBAS (0x06 0x16)
Poll contents of SBAS Configuration
SBAS Configuration
CFG-TMODE2 (0x06 0x3D)
Poll Time Mode Settings
Time Mode Settings 2
CFG-TMODE (0x06 0x1D)
Poll Time Mode Settings
Time Mode Settings
CFG-TP5 (0x06 0x31)
Poll Timepulse Parameters
Poll TimePulse Parameters
Get/Set TimePulse Parameters
CFG-TP (0x06 0x07)
Poll TimePulse Parameters
Get/Set TimePulse Parameters
CFG-USB (0x06 0x1B)
Poll a USB configuration
Get/Set USB Configuration
ESF (0x10)
ESF-MEAS (0x10 0x02)
External Sensor Fusion Measurements (LEA-6R)
ESF-STATUS (0x10 0x10)
Sensor Fusion Status Information (LEA-6R)
Sensor Fusion Status Information (LEA-6R)
INF (0x04)
INF-DEBUG (0x04 0x04)
ASCII String output, indicating debug output
INF-ERROR (0x04 0x00)
ASCII String output, indicating an error
INF-NOTICE (0x04 0x02)
ASCII String output, with informational contents
INF-TEST (0x04 0x03)
ASCII String output, indicating test output
INF-WARNING (0x04 0x01)
ASCII String output, indicating a warning
MON (0x0A)
MON-HW2 (0x0A 0x0B)
Extended Hardware Status
MON-HW (0x0A 0x09)
Hardware Status
Hardware Status
MON-IO (0x0A 0x02)
I/O Subsystem Status
MON-MSGPP (0x0A 0x06)
Message Parse and Process Status
MON-RXBUF (0x0A 0x07)
Receiver Buffer Status
MON-RXR (0x0A 0x21)
Receiver Status Information
MON-TXBUF (0x0A 0x08)
Transmitter Buffer Status
MON-VER (0x0A 0x04)
Receiver/Software/ROM Version
NAV (0x01)
NAV-AOPSTATUS (0x01 0x60)
AssistNow Autonomous Status
NAV-CLOCK (0x01 0x22)
Clock Solution
NAV-DGPS (0x01 0x31)
DGPS Data Used for NAV
NAV-DOP (0x01 0x04)
Dilution of precision
NAV-EKFSTATUS (0x01 0x40)
Dead Reckoning Software Status
NAV-POSECEF (0x01 0x01)
Position Solution in ECEF
NAV-POSLLH (0x01 0x02)
Geodetic Position Solution
NAV-SBAS (0x01 0x32)
SBAS Status Data
NAV-SOL (0x01 0x06)
Navigation Solution Information
NAV-STATUS (0x01 0x03)
Receiver Navigation Status
NAV-SVINFO (0x01 0x30)
Space Vehicle Information
NAV-TIMEGPS (0x01 0x20)
GPS Time Solution
NAV-TIMEUTC (0x01 0x21)
UTC Time Solution
NAV-VELECEF (0x01 0x11)
Velocity Solution in ECEF
NAV-VELNED (0x01 0x12)
Velocity Solution in NED
RXM (0x02)
RXM-ALM (0x02 0x30)
Poll GPS Constellation Almanach Data
Poll GPS Constellation Almanach Data for a SV
GPS Aiding Almanach Input/Output Message
RXM-EPH (0x02 0x31)
Poll GPS Constellation Ephemeris Data
Poll GPS Constellation Ephemeris Data for a SV
GPS Aiding Ephemeris Input/Output Message
RXM-PMREQ (0x02 0x41)
Requests a Power Management task
RXM-RAW (0x02 0x10)
Raw Measurement Data
RXM-SFRB (0x02 0x11)
Subframe Buffer
RXM-SVSI (0x02 0x20)
SV Status Info
TIM (0x0D)
TIM-SVIN (0x0D 0x04)
Survey-in data
TIM-TM2 (0x0D 0x03)
Time mark data
TIM-TP (0x0D 0x01)
Timepulse Timedata
TIM-VRFY (0x0D 0x06)
Sourced Time Verification
RTCM Protocol
Introduction
Supported Messages
Configuration
Output
Restrictions
Reference
Appendix
u-blox 6 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)
Fix Now Configuration (UBX-CFG-FXN)
Power Management Configuration (UBX-CFG-PM)
Power Management 2 Configuration (UBX-CFG-PM2)
Receiver Manager Configuration (UBX-CFG-RXM)
SBAS Configuration (UBX-CFG-SBAS)
Port Setting (UBX-CFG-PRT)
Port Setting (UBX-CFG-USB)
Message Settings (UBX-CFG-MSG)
NMEA Protocol Settings (UBX-CFG-NMEA)
INF Messages Settings (UBX-CFG-INF)
Timepulse Settings (UBX-CFG-TP)
Timepulse Settings (UBX-CFG-TP5)
Jammer/Interference Monitor (UBX-CFG-ITFM)
Remote inventory (UBX-CFG-RINV)
u-blox 6 Standard firmware versions
Geodetic Datum
Predefined Datum
Ellipsoids
Rotation and Scale
Related Documents
Overview
Related Documents for Modules
u-blox 6
Contact
Headquarters
Offices
u-blox 6
Receiver Description
Including Protocol Specification
Abstract
The Receiver Description Including Protocol Specification
describes the firmware features, specifications and configuration
for u-blox 6 high performance GPS receivers. u-blox 6 firmware
includes many features and configuration settings to customize
receiver behavior to the user's specific needs.
The Receiver Description provides an overview and conceptual
details of the supported features. The Protocol Specification
details the NMEA and UBX protocols and serves as a reference
tool.
www.u-blox.com
Document Information
Title
Subtitle
u-blox 6 Receiver Description
Including Protocol Specification
Document type
Manual
Document number
GPS.G6-SW-10018-C
48171, 1 Jun 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.
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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
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9.3 Power Save Mode....................................................................................................................... 18
9.3.1 Operation ............................................................................................................................ 18
9.3.1.1 ON/OFF operation - long update period .................................................................... 19
9.3.1.2 Cyclic tracking operation - short update period ........................................................ 20
9.3.1.3 User controlled operation - update and search period of zero ................................ 20
9.3.1.4 Satellite data download .............................................................................................. 20
9.3.2 Configuration ...................................................................................................................... 21
9.3.2.1 Mode of operation ...................................................................................................... 21
9.3.2.2 Update and search period ........................................................................................... 21
9.3.2.3 Acquisition timeout ..................................................................................................... 22
9.3.2.4 On time and wait for timefix ...................................................................................... 22
9.3.2.5 Do not enter 'inactive for search' state when no fix ................................................. 22
9.3.2.6 Update RTC and Eph.................................................................................................... 22
9.3.2.7 EXTINT pin control ....................................................................................................... 22
9.3.2.8 Grid offset .................................................................................................................... 22
9.3.3 Communication, wake-up, FixNow interface, USB and AssistNow Autonomous ........... 23
9.3.3.1 Communication............................................................................................................ 23
9.3.3.2 Wake-up ....................................................................................................................... 23
9.3.3.3 FixNow interface .......................................................................................................... 23
9.3.3.4 behavior while USB host connected ........................................................................... 24
9.3.3.5 Cooperation with the AssistNow Autonomous feature ............................................ 24
9.3.4 Examples .............................................................................................................................. 24
9.3.4.1 Use Grid Offset............................................................................................................. 24
9.3.4.2 Use update periods of zero ......................................................................................... 25
9.4 Peak current settings ................................................................................................................. 25
9.5 Power On/Off command............................................................................................................ 25
10 Time Mode Configuration .............................................................................................................. 25
10.1 Introduction.............................................................................................................................. 25
10.2 Fixed Position ........................................................................................................................... 25
10.3 Survey-in ................................................................................................................................... 25
11 Timepulse ....................................................................................................................................... 26
11.1 Recommendations.................................................................................................................... 26
11.2 Timepulse Configuration (u-blox 6) ........................................................................................ 27
11.3 Configuring Timpulse with UBX-CFG-TP5............................................................................... 27
11.3.1 Example 1: ......................................................................................................................... 28
11.3.2 Example 2: ......................................................................................................................... 29
11.4 Configuring Timpulse with UBX-CFG-TP ................................................................................ 30
11.4.1 Example: ............................................................................................................................ 31
12 Receiver Status Monitoring ........................................................................................................... 31
12.1 Input/Output system ................................................................................................................ 32
12.2 Jamming/Interference Indicator.............................................................................................. 32
12.3 Jamming/Interference Monitor ............................................................................................... 32
13 Aiding and Acquisition ................................................................................................................... 33
13.1 Introduction.............................................................................................................................. 33
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13.2 Startup Strategies..................................................................................................................... 33
13.3 Aiding / Assisted GPS (A-GPS) .................................................................................................. 34
13.4 Aiding Data .............................................................................................................................. 34
13.5 Aiding Sequence ...................................................................................................................... 34
13.6 AssistNow Online ..................................................................................................................... 34
13.7 AssistNow Offline..................................................................................................................... 35
13.7.1 Flash-based AlmanacPlus Overview ................................................................................. 36
13.7.1.1 Download Procedure ................................................................................................. 36
13.7.2 Host-based AlmanacPlus Overview .................................................................................. 37
13.7.3 Message specifics............................................................................................................... 37
13.7.3.1 Range checks .............................................................................................................. 37
13.7.3.2 Changing ALP files ..................................................................................................... 38
13.7.3.3 Sample Code............................................................................................................... 38
13.8 AssistNow Autonomous........................................................................................................... 38
13.8.1 Introduction....................................................................................................................... 38
13.8.2 Concept.............................................................................................................................. 38
13.8.3 Interface............................................................................................................................. 39
13.8.4 Benefits and Drawbacks ................................................................................................... 40
14 Precise Point Positioning ................................................................................................................ 41
14.1 Introduction.............................................................................................................................. 41
14.2 Configuration ........................................................................................................................... 41
14.3 Monitoring ............................................................................................................................... 41
15 Automotive Dead Reckoning (ADR) .............................................................................................. 41
15.1 Introduction.............................................................................................................................. 42
15.2 Timing ....................................................................................................................................... 42
15.2.1 First Byte Reception .......................................................................................................... 43
15.2.2 Time Mark on External Input ........................................................................................... 44
15.2.3 Latency............................................................................................................................... 45
15.3 Setup recommendations.......................................................................................................... 45
15.3.1 GPS antenna placement, gyro placement and single tick origin ................................... 45
15.3.2 Startup/Shutdown integration guideline ........................................................................ 46
15.3.3 Navigation and measurement rate recommendations................................................... 46
15.4 ESF Measurement Data (LEA-6R)............................................................................................. 46
15.5 Gyro and Wheel Tick (GWT) Solution Configuration (LEA-6R) ............................................. 46
15.5.1 Attached Gyroscope and Analog Wheel Ticks ................................................................ 46
15.5.2 Using Serial Wheel Ticks ................................................................................................... 47
NMEA Protocol ........................................................................................................................................... 49
16 Protocol Overview .......................................................................................................................... 49
17 Latitude and Longitude Format ..................................................................................................... 50
18 Position Fix Flags in NMEA Mode .................................................................................................. 51
19 NMEA Messages Overview ............................................................................................................ 52
20 Standard Messages......................................................................................................................... 54
20.1 DTM........................................................................................................................................... 54
20.2 GBS ............................................................................................................................................ 55
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20.3 GGA........................................................................................................................................... 56
20.4 GLL ............................................................................................................................................ 57
20.5 GPQ ........................................................................................................................................... 58
20.6 GRS ............................................................................................................................................ 59
20.7 GSA............................................................................................................................................ 60
20.8 GST ............................................................................................................................................ 61
20.9 GSV............................................................................................................................................ 62
20.10 RMC......................................................................................................................................... 63
20.11 TXT .......................................................................................................................................... 64
20.12 VTG.......................................................................................................................................... 65
20.13 ZDA ......................................................................................................................................... 66
21 Proprietary Messages ..................................................................................................................... 67
21.1 UBX,00 ...................................................................................................................................... 67
21.2 UBX,00 ...................................................................................................................................... 68
21.3 UBX,03 ...................................................................................................................................... 70
21.4 UBX,03 ...................................................................................................................................... 71
21.5 UBX,04 ...................................................................................................................................... 73
21.6 UBX,04 ...................................................................................................................................... 74
21.7 UBX,05 ...................................................................................................................................... 75
21.8 UBX,05 ...................................................................................................................................... 76
21.9 UBX,06 ...................................................................................................................................... 78
21.10 UBX,06 .................................................................................................................................... 79
21.11 UBX,40 .................................................................................................................................... 81
21.12 UBX,40 .................................................................................................................................... 82
21.13 UBX,41 .................................................................................................................................... 83
21.14 UBX,41 .................................................................................................................................... 84
UBX Protocol............................................................................................................................................... 85
22 UBX Protocol Key Features............................................................................................................. 85
23 UBX Packet Structure...................................................................................................................... 85
24 UBX Class IDs................................................................................................................................... 85
25 UBX Payload Definition Rules ........................................................................................................ 86
25.1 Structure Packing ..................................................................................................................... 86
25.2 Message Naming ...................................................................................................................... 86
25.3 Number Formats....................................................................................................................... 86
26 UBX Checksum................................................................................................................................. 86
27 UBX Message Flow.......................................................................................................................... 87
27.1 Acknowledgement................................................................................................................... 87
27.2 Polling Mechanism ................................................................................................................... 87
28 UBX Messages Overview................................................................................................................ 88
29 ACK (0x05) ....................................................................................................................................... 92
29.1 ACK-ACK (0x05 0x01) ............................................................................................................... 92
29.1.1 Message Acknowledged ................................................................................................... 92
29.2 ACK-NAK (0x05 0x00)............................................................................................................... 92
29.2.1 Message Not-Acknowledged............................................................................................ 92
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30 AID (0x0B)........................................................................................................................................ 93
30.1 AID-ALM (0x0B 0x30) ............................................................................................................... 93
30.1.1 Poll GPS Aiding Almanac Data ......................................................................................... 93
30.1.2 Poll GPS Aiding Almanac Data for a SV ........................................................................... 93
30.1.3 GPS Aiding Almanac Input/Output Message................................................................... 94
30.2 AID-ALPSRV (0x0B 0x32) .......................................................................................................... 94
30.2.1 ALP client requests AlmanacPlus data from server ......................................................... 94
30.2.2 ALP server sends AlmanacPlus data to client .................................................................. 95
30.2.3 ALP client sends AlmanacPlus data to server. ................................................................. 96
30.3 AID-ALP (0x0B 0x50)................................................................................................................. 96
30.3.1 ALP file data transfer to the receiver............................................................................... 96
30.3.2 Mark end of data transfer ................................................................................................ 97
30.3.3 Acknowledges a data transfer ......................................................................................... 97
30.3.4 Indicate problems with a data transfer ........................................................................... 97
30.3.5 Poll the AlmanacPlus status.............................................................................................. 98
30.4 AID-AOP (0x0B 0x33)................................................................................................................ 98
30.4.1 Poll AssistNow Autonomous data .................................................................................... 98
30.4.2 Poll AssistNow Autonomous data for one satellite ........................................................ 99
30.4.3 AssistNow Autonomous data ........................................................................................... 99
30.5 AID-DATA (0x0B 0x10) ........................................................................................................... 100
30.5.1 Polls all GPS Initial Aiding Data...................................................................................... 100
30.6 AID-EPH (0x0B 0x31) .............................................................................................................. 100
30.6.1 Poll GPS Aiding Ephemeris Data .................................................................................... 100
30.6.2 Poll GPS Aiding Ephemeris Data for a SV ...................................................................... 100
30.6.3 GPS Aiding Ephemeris Input/Output Message .............................................................. 101
30.7 AID-HUI (0x0B 0x02)............................................................................................................... 102
30.7.1 Poll GPS Health, UTC and ionosphere parameters........................................................ 102
30.7.2 GPS Health, UTC and ionosphere parameters ............................................................... 102
30.8 AID-INI (0x0B 0x01) ................................................................................................................ 103
30.8.1 Poll GPS Initial Aiding Data ............................................................................................ 103
30.8.2 Aiding position, time, frequency, clock drift................................................................. 104
30.9 AID-REQ (0x0B 0x00) .............................................................................................................. 105
30.9.1 Sends a poll (AID-DATA) for all GPS Aiding Data ......................................................... 105
31 CFG (0x06)...................................................................................................................................... 106
31.1 CFG-ANT (0x06 0x13).............................................................................................................. 106
31.1.1 Poll Antenna Control Settings........................................................................................ 106
31.1.2 Get/Set Antenna Control Settings.................................................................................. 106
31.2 CFG-CFG (0x06 0x09) .............................................................................................................. 107
31.2.1 Clear, Save and Load configurations ............................................................................. 107
31.3 CFG-DAT (0x06 0x06).............................................................................................................. 109
31.3.1 Poll Datum Setting .......................................................................................................... 109
31.3.2 Set Standard Datum........................................................................................................ 109
31.3.3 Set User-defined Datum ................................................................................................. 109
31.3.4 Get currently selected Datum......................................................................................... 110
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31.4 CFG-EKF (0x06 0x12)............................................................................................................... 111
31.4.1 Poll EKF Module Settings................................................................................................ 111
31.4.2 Get/Set EKF Module Settings - LEA-6R........................................................................... 111
31.5 CFG-ESFGWT (0x06 0x29) ....................................................................................................... 113
31.5.1 Get/Set settings of gyro+wheel tick sol (GWT) - LEA-6R............................................... 113
31.6 CFG-FXN (0x06 0x0E) .............................................................................................................. 114
31.6.1 Poll FXN configuration.................................................................................................... 114
31.6.2 RXM FixNOW configuration. .......................................................................................... 114
31.7 CFG-INF (0x06 0x02) ............................................................................................................... 115
31.7.1 Poll INF message configuration for one protocol ......................................................... 115
31.7.2 Information message configuration .............................................................................. 116
31.8 CFG-ITFM (0x06 0x39)............................................................................................................. 117
31.8.1 Jamming/Interference Monitor configuration. ............................................................. 117
31.9 CFG-MSG (0x06 0x01) ............................................................................................................. 118
31.9.1 Poll a message configuration ......................................................................................... 118
31.9.2 Set Message Rate(s)......................................................................................................... 118
31.9.3 Set Message Rate ............................................................................................................ 119
31.10 CFG-NAV5 (0x06 0x24) ......................................................................................................... 119
31.10.1 Poll Navigation Engine Settings ................................................................................... 119
31.10.2 Get/Set Navigation Engine Settings ............................................................................. 120
31.11 CFG-NAVX5 (0x06 0x23)....................................................................................................... 121
31.11.1 Poll Navigation Engine Expert Settings ....................................................................... 121
31.11.2 Get/Set Navigation Engine Expert Settings ................................................................. 121
31.12 CFG-NMEA (0x06 0x17) ........................................................................................................ 123
31.12.1 Poll the NMEA protocol configuration ........................................................................ 123
31.12.2 Set/Get the NMEA protocol configuration .................................................................. 123
31.13 CFG-NVS (0x06 0x22) ............................................................................................................ 124
31.13.1 Clear, Save and Load non-volatile storage data ......................................................... 124
31.14 CFG-PM2 (0x06 0x3B) ........................................................................................................... 126
31.14.1 Poll extended Power Management configuration ..................................................... 126
31.14.2 Extended Power Management configuration............................................................. 126
31.15 CFG-PM (0x06 0x32) ............................................................................................................. 128
31.15.1 Poll Power Management configuration ...................................................................... 128
31.15.2 Power Management configuration ............................................................................. 128
31.16 CFG-PRT (0x06 0x00)............................................................................................................. 130
31.16.1 Polls the configuration of the used I/O Port................................................................ 130
31.16.2 Polls the configuration for one I/O Port ...................................................................... 130
31.16.3 Get/Set Port Configuration for UART .......................................................................... 130
31.16.4 Get/Set Port Configuration for USB Port ..................................................................... 133
31.16.5 Get/Set Port Configuration for SPI Port ....................................................................... 134
31.16.6 Get/Set Port Configuration for DDC Port .................................................................... 137
31.17 CFG-RATE (0x06 0x08) .......................................................................................................... 139
31.17.1 Poll Navigation/Measurement Rate Settings............................................................... 139
31.17.2 Navigation/Measurement Rate Settings ...................................................................... 139
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