Tri-M Systems, Inc.
Unit 100, 1407 Kebet way
Port Coquitlam, BC V3C 6L3
Canada
Phone: 604.945.9565
Fax: 604.945.9566
info@tri-m.com
FV – 25
USER’S GUIDE
This document features the specification of FV-25 and describes the details on using the evaluation kit
to evaluate the performance of FV-25 and select the desired functions. It intends to help users to obtain
the maximum performance from FV-25 in users’ integrating GPS systems.
Version: 1.0
Date: January 2005
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4.5 Navigation Data…………………………………………………….
4.5.1 Position Format………………………………………………
4.5.2 Datums……………………………………………………….
4.5.3 Update Rate…………………………………………………..
4.5.4 Kinematic Mode………………………………………………
4.6 Navigation for Less Than 4 Observable Satellites……………………
4.6.1 2D Navigation…………………………………………………
4.6.2 Dead Reckoning……………………………………………….
4.7 Almanac Navigation…………………………………………………..
4.8 DGPS – WAAS, EGNOS, & RTCM………………………………….
4.9 Receiver Autonomous Integrity Monitoring (RAIM)…………………
4.10 Time Pulse (1 PPS)…………………………………………………..
Chapter 5 Evaluation Kit…………………………………………
Chapter 6 Antennas………………………………………………..
6.1 Passive Antennas………………………………………………………
6.2 Active Antennas……………………………………………………….
6.3 Active Antenna Supervisor - Short Circuit Protection…………………
Chapter 7 Available NMEA and UBX Messages………………….
7.1 NMEA Protocol………………………………………………………….
7.1.1 Standard NMEA Messages……………………………………….
7.1.2 Proprietary NMEA Messages…………………………………….
7.2 UBX Binary Protocol……………………………………………………
7.2.1 Data Format………………………………………………………
7.2.2 Classification of UBX Messages…………………………………
7.2.3 Responses to the Users’ Inputs……………………………………
7.2.4 UBX Messages……………………………………………………
Chapter 8 Troubleshooting………………………………………….
Appendix A Geodetic ID: Coordinate Datum……………………
Appendix B Acronyms…………………………………………….
References…………………………………………………………….
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List of Figures
Figure 2.1 FV-25 Pin definitions (Top View)…………………………………..
Figure 2.2 A reference layout for FV-25………………………………………..
Figure 2.3 Setting of comm. port number and the value of baud rate…………..
Figure 2.4 Setting of comm. port number……………………………………….
Figure 2.5 Setting of the value of baud rate……………………………………..
Figure 2.6 Window after correct setting…………………………………………
Figure 2.7 Constellation Map of GPS satellites…………………………………
Figure 2.8 Window for showing NMEA messages………………………………
Figure 2.9 “Show all MS” window………………………………………………
Figure 2.10 Available NMEA messages………………………………………………….
Figure 2.11 GPS satellite information……………………………………………
Figure 2.12 Receiver Information………………………………………………..
Figure 2.13 Tracking View……………………………………………………….
Figure 2.14 Initial position……………………………………………………….
Figure 2.15 Initial UTC time and day……………………………………………
Figure 2.16 Local time zone……………………………………………………...
Figure 2.17 Restart……………………………………………………………….
Figure 2.18 DGPS………………………………………………………………..
Figure 2.19 Setting of coordinate datum…………………………………………
Figure 3.1 HyperTerminal application……………………………………………
Figure 3.2 Connection settings……………………………………………………
Figure 3.3. Correct connection settings……………………………………………
Figure 5.1 Main box of the evaluation kit…………………………………………
Figure 5.2 Front panel of the evaluation kit……………………………………….
Figure 5.3 Back panel of the evaluation kit……………………………………….
Figure 7.1 UBX protocol structure………………………………………………...
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List of Tables
Table 1.1 Specification of FV-25……………………………………………..
Table 2.1 Description of pin definition for FV-25……………………………
Table 4.1 Conditions for Start-Up modes…………………………………….
Table 4.2 Available sensitivity modes………………………………………..
Table 7.1 The types of data…………………………………………………..
Table 7.2 UBX message classes……………………………………………...
Table 8.1 Troubleshooting……………………………………………………
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Preface
The objective of The FV-25 User’s Guide is to help users to understand the properties
of FV-25 thoroughly and, therefore, obtain the maximum performance from the
module easily. This document describes and provides the useful information the
FV-25 module, which includes the functions of pins on the module, configuration
setting, utility, and evaluation kit. It will help users understand the capability of the
module and, therefore, successfully integrate the FV-25 into users’ GPS systems. Each
chapter is one of the pieces for the module and carries its own purpose. The following
summary for each chapter and appendix shall help a user to navigate the user’s guide
as easily and quickly as possible.
Chapter 1 Introduction
This chapter describes the main goal, features, and available supports for the FV-25
module.
Chapter 2 Start
This chapter depicts the definitions of pins on the module and gives an example
reference layout of peripheral connections around the module. The utility,
“Sanav_Demo.exe”, is used to display satellite and receiver information and set
configuration for FV-25. All the information about “Sanav_Demo.exe” is introduced
step-by-step.
Chapter 3 Alternative Start
This chapter suggests an alternative utility, HyperTerminal, for users to show satellite
and receiver information in terms of NMEA sentences. Also, HyperTerminal can be
used to save data in the host platform and set configuration to the module. Only the
basic operations for desired actions (display, save, and configuration setting) are
introduced.
Chapter 4 Navigation
This chapter describes all the information of GPS navigation data available from the
module and related issues, such as cold start, warm start, hot start, DGPS, and so on.
It also shows corresponding configuration settings for the issues in this chapter.
Chapter 5 Evaluation Kit
This chapter depicts the physical mechanism and functions of evaluation kit for
FV-25.
Chapter 6 Antennas
This chapter describes the pro and con for using passive and active antennas with the
module.
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Chapter 7 Available NMEA and UBX1 Messages
This chapter lists the available NMEA and u-blox proprietary (UBX) messages for the
module.
Chapter 8 Troubleshooting
This chapter provides good helps when the module isn’t running properly.
Appendix A Geodetic ID: Coordinate Datum
Appendix B Acronyms
In addition to the above brief description for each chapter, you also can find useful
definitions for GPS terminologies in the Appendix B as well as the lists of figures
(page ?) and tables (page ?). Please read this user’s guide carefully and thoroughly
before proceeding the operations of the module. If you experience questions and
problems about FV-25 and the evaluation kit, please refer to the Troubleshooting
section first. If further helps are needed, please feel free and go to our information
service on the homepage, www.sanav.com. We are glad to answer and resolve your
questions and problems.
Technical Support
Address:
9F, No. 105, Shi-Cheng Road, Pan-Chiao City,
Taipei Hsien, Taiwan, R.O.C.
Phone:
+886-2-2687-9500
Fax:
+886-2-2687-8893
E-mail Address:
When you send a request to us, please prepare the following information that may
help us to resolve your problem as soon as possible:
1. Serial No. of Product;
2. Type of antenna that is connected to the module;
3. Operating System (OS) of your host PC;
4. Simple description of your integrated system (may also included peripheral
connections and devices);
5. Describing the way you operate your system;
6. Description of failure by text, figure, or both;
7. Contact information, such as name, address, phone number, and e-mail address.
1
UBX: u-blox proprietary protocol.
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Chapter 1 Introduction
In this chapter, the main goal of FV-25 will be described and then the features of the
FV-25 module will be specified in order that a user can make correct decision about
module selection before proceeding further development. Understanding thoroughly
the pro and con of FV-25 will clear the compatibility of the module with a user’s
system. At the same time, let the users make the best performance out the module.
The main goal of FV-25 is to be used as a part of integrated system, which can be a
simple PVT (Position-Velocity-Time) system, for instance, G-mouse, or complex
wireless systems, such as a system with GSM function, a system with Blue Tooth
function, and a system with GPRS function. The module (FV-25) can be the best
candidate for users’ systems as the users’ systems need the careful consideration on
the performance, power consumption, and/or size of the module. Table 1.1
summarizes the specification of FV-25. It is noticeable that in addition to excellent
start-up times and position accuracy, the updated rate can be up to 4 Hz and the raw
measurements, i.e., pseudoranges and carrier phases, can be output in the format of
UBX binary message.
FV-25 mainly consists of ATR0600 (RF front-end IC), ATR0610 (LNA IC), and
ATR0620 (Baseband IC)2 as well as 8 Mbit flash memory. Since the low noise
amplifier (LNA: ATR0610) is built in the RF section, the passive and active antennas
are the available options for the module. The Baseband IC (ATR0620) mainly
includes a CPU (ARM7), SRAM, ROM, Battery Backed-up RAM (BBR), and
Real-Time Clock (RTC). To keep running of BBR and RTC after power off, a
backed-up battery, which has voltage in the range of 1.95 V to 3.6 V, is needed. Since
BBR is used to store the updated position, ephemeris, and almanac data, the module
can implement all the start-up modes with the back-up battery. Besides the above
updated data can be saved to BBR, configuration data, which are available at startup,
can be also saved to BBR. In addition, the 8 Mbit flash memory is the other location
to save configuration setting permanently without the support of the backed-up
battery.
Using high performance of software and firmware from u-blox, the module provides
spectacular performance on navigation under static and dynamic conditions in
multipath-trended areas, such as urban skyscrapers and canyons, remarkable
2
ATR 0600, ATR 0610, ATR 0620 are manufactured by Atmel corporation.
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sensitivity for weak signals without sacrificing accuracy, AGPS function, DGPS
function which is supported by RTCM, WAAS, and EGNOS, and flexibility for
system integrations. Because of 8192 frequency search bins at the same time, it
accelerates the start-up times of the module.
In addition to the above excellent advantages, FV-25 has the capabilities to perform
low power consumption due to the advanced hardware components and implement
power saving function owing to versatile firmware. The properties are very suitable
for battery-operated products. In addition, our module has the size of only 25.4 mm x
25.4 mm. This feature allows the module more executable and achievable in the
system integration, especially for the size-mattered products like handheld devices.
Because of using advance technology in package, the module is highly integratable
with other components and can be automatically assembled and proceeded in a
standard pick-and-place equipment and reflow soldering in high volume. Therefore,
the cost of module can be reduced.
1.1 Supports
For FV-25, we will provide a evaluation kit as an optional. The evaluation kit helps
the users to perform the estimation of the module, which includes the start-up times,
reacquisition time, setting of NMEA sentences, baud rate setting, etc.. All those
functions and evaluations are supported by Sanav_Demo, which accompanies with the
kit and is developed by San Jose Navigation, Inc.. Of course, for the customers
without purchasing the kit, a reference layout for peripheral connections and
Sanav_Demo are available. The details of the reference layout and Sanav_Demo will
be described in Chapter 2. For the evaluation kit, its introduction is depicted in
Chapter 5.
The other available tool for evaluate the module is Window’s “HyperTerminal”. For
utilizing this tool and, at the same time, understanding the capability of the module,
the commands and messages for polling data or setting configuration are described in
Chapters 4 and 7.
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Specification
Performance Characteristics
Receiver Type
Position Accuracy
w/o aid
L1 frequency, C/A code, 16 Channels
3.3 m CEP
2.6 m
DGPS(WAAS, EGNOS,RTCM)
AGPS Support
Start-up Time
Hot start
Yes
< 3 s
Warm start
35 s
Cold start
41 s
Reacquisition Time
Acceleration
< 1 s
< 4 g
Update Rate
up to 4 Hz
50 ns RMS
Timing Accuracy
Sensitivity
Acquisition
-140 dBm
-149 dBm
Tracking
Power
Input Voltage
Backup Voltage
Power Consumption
Acquisition
Tracking
5.0 ~ 12.0 V DC
1.95 ~ 3.3V DC
101 mA @ 3 V
84 mA @ 3 V
20 mA @ 3 V
Sleep mode
I/O
Protocols
Serial Ports
1 PPS
NMEA, UBX binary, RTCM
Two RS232s @ 3.3 V
@ 1.8 V
Raw Measurements
Pseudorange and Carrier Phase
Environment
Operating Temperature
Storage Temperature
- 40 0C ~ 85 0C
- 40 0C ~ 125 0C
Mechanical Information
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Dimension
Thickness
Weight
37.1mm x 25.6 mm
3.9 mm
9.5 g (include an SMA jack and 5 cm RG-316)
Antenna
Type
External Active or Passive Antenna
1.8 V ~ 8 V DC
Input Voltage (VANT
)
Input Power limit (Active)
Gain (Active)
< -17 dBm
up to 25 dB
Supervision
Build-in short circuit detection, External open
circuit detection
Note: For using the passive antenna, Pin VANT has to be connected to GND.
Table 1.1 Specification of FV-25.
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Chapter 2 Start
2.1 Pin Definitions and Reference Layout
Figure 2.1 shows the pin definitions of FV-25. Table 2.1 describes the corresponding
definitions for pins. Note that only either use VIN-1 (DC 5 ~ 12V) or VIN-2 (DC 3.3V)
for voltage input. Also, if the Pins 1 ~ 10 are used, please leave Pins a ~ n being
opened. There are two comm. ports to input/output the useful information (i.e.
receiver’s and satellites’ data) for the users. The default setting for comm. 1 (either
Pins 5 and 10 or Pins l and m) is to input/output the information in the ASCII format,
which is NMEA with the default baud rate 4800 bps, and the default setting for comm.
2 ( either Pins 4 and 9 or Pins j and k) is to input/output the information in the binary
format, which is UBX (proprietary messages) with the default baud rate 4800 bps.
The protocols for NMEA and UBX sentences will be introduced in Chapter 7. All the
serial ports are operated at the level of 1.8 V.
Figure 2.1 FV-25 Pin definitions (Top View)
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Pin Definitions
Pin No.
Title
I/O
Note
Antenna bias voltage input DC 1.8~ 8.0V (connect to ground
if not used)
1
I
VANT
2
3
4
5
6
I
I
VIN-2
Ground
RX2
Voltage input 3.3V DC (MUST leave open if VIN-1 is used)
Ground
I
Serial port 2 (leave open if not used)
Serial port 1 (leave open if not used)
Voltage input 5~12V DC (MUST leave open if VIN-2 is used)
Backup input voltage 1.95 ~ 3.3V DC (connect to ground if
not used)
O
I
TX1
VIN-1
7
I
VBAK
8
O
O
I
Time pulse (leave open if not used)
Serial port 2 (leave open if not used)
Serial port 1 (leave open if not used)
1PPS
TX2
RX1
Title
VIN-1
VANT
9
10
Pin No.
I/O
Note
a
I
I
Voltage input 5~12V DC (MUST leave open if VIN-2 is used)
Antenna bias voltage input DC 1.8~ 8.0V (connect to ground
if not used)
b
c
VIN-2
VBAK
I
I
Voltage input 3.3V DC (MUST leave open if VIN-1 is used)
Backup voltage input 1.95 ~ 3.3V DC (connect to ground if
not used)
d
GPS status (leave open if not used)
Ground
e
f
Status
Ground
Reset
O
I
Reset (active low, leave open if not used)
Time pulse (leave open if not used)
External interrupt pin (default: internal pull up, leave open if
not used)
g
h
i
I/O
O
I
1 PPS
Reserve
Serial port 2 (leave open if not used)
Serial port 2 (leave open if not used)
Serial port 1 (leave open if not used)
Serial port 1 (leave open if not used)
Boot mode (in normal operation, leave open if not used)
j
k
l
TX2
RX2
O
I
RX1
I
m
n
TX1
O
I
Reserve
Table 2.1 Description of pin definition for FV-25
Note: Only either VIN-1 or VIN-2 can be used for voltage input, while VIN-2 is the pin for DC
3.3V and VIN-1 is for DC 5~12V.
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2.2 Sanav_Demo
Sanav_Demo is required to run on a PC with at least 4 MB RAM and Windows 98
that has at least one available serial comm. port (from 1 to 24).
2.2.1 Port Number & Baud Rate
When users implement Sanav_Demo, the first window appeared on the screen is the
setting of comm. port number and the corresponding value of baud rate, as shown in
Figure 2.3. To open or close the “Setting” window, click the selection “File/Port” or
the short cut button
.
Figure 2.3 Setting of comm. port number and the value of baud rate.
For selecting the comm. port number, pull the scroll-down window for the “Comm
port” item and there are twenty-four comm. port number available (i.e. com1 ~
com24), as shown in Figure 2.4. Users can scroll down the desired window to choose
the corresponding comm. port number that connects between the module and the host
PC.
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Figure 2.4 Setting of comm. port number.
For setting the value of baud rate, pull the scroll-down window for the “Baud rate”
item and the desired window shows that the available range of baud rate is from 2400
bps to 115200 bps, as shown in Figure 2.5. The users select the right one that will
communicate the module with the host PC.
Figure 2.5 Setting of the value of baud rate.
2.2.2 Comm Port Connection and Disconnection
After the setting is completed, click the “Connect” button to make the connection
between the GPS receiver (module) and host PC. If the setting is correct, the
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subsequent window will be the one shown in Figure 2.6, i.e., the navigation data from
the module are displayed in the corresponding sub-windows. If the setting values are
not correct or the connection hasn’t established yet, Sanav_Demo will prompt a
warning sentence “Comm port couldn’t be open, please check the device”.
When a new port setting is required, make sure Sanav_Demo is disconnected from the
module before sending the request, i.e., click the “Disconnect” button in the “Setting”
window as Sanav_Demo is in the connected mode. Otherwise, if users send a new
setting to the module during the connected mode, there will be no response for the
request.
Figure 2.6 Window after correct setting.
2.2.3 Constellation Map
There are two ways to show the constellation of GPS satellites, as shown in Figure 2.7.
Click the selection “Windows/Map View” or the short cut button ?. If the module is
acquiring a GPS satellite, the corresponding “satellite mark” in the “Map View” is
represented by gray color and, on the other hand, if the module is continuously
tracking a GPS satellite, the representing color is red, as shown in Figure 2.6.
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Figure 2.7 Constellation Map of GPS satellites.
2.2.4 Message View for NMEA Messages
Figure 2.8 is the window for showing the desired (user-selected) output NMEA
messages. There are two ways to show the “Message View” window. Click the item
“Windows/Terminal View” or the shortcut button ?. The default window for “Message
View” is only showing the output NMEA messages at current epoch (one epoch), like
the one shown in Figure 2.6.
Figure 2.8 Window for showing NMEA messages.
Clicking the “Show all MS” button, the NMEA messages will be displayed
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accumulatively within the sub-window until the sub-window is filled up, i.e., the
“Message View” window contains NMEA messages from several epochs, as shown in
Figure 2.9, and the oldest data will be “squeezed” out in the top of the sub-window
while the new data will be displayed in the bottom of the sub-window.
After clicking the “Show all MS” button, the “Message View” window shows two
available buttons: “Current MS” and “Save”. The “Current MS” button functions as
showing the available NMEA messages of the current epoch, i.e., back to the original
setting, as shown in Figure 2.6. The “Save” button saves the output NMEA messages
in a user-defined file.
Figure 2.9 “Show all MS” window.
2.2.5 Available NMEA Messages
The output of NMEA messages can be selected through “Interval” under the “User
Setting” window, as shown in Figure 2.10. There are two ways to show this
sub-window: “Windows/User Setting” or the shortcut button ?.
The available NMEA messages for FV-25 are GGA, GLL, GRS, GSA, GSV, GST,
RMC, TXT, VTG, and ZDA. The default output NMEA messages include the above
all except TXT message. As shown in Figure 2.10, the number behind each message is
the update rate of the sentence. Since the default values of the update rates for all
messages are zeros, clicking the “OK” button without changing the default values, the
module will stop outputting NMEA messages. If a user wants the module to output,
for example, RMC message at the rate of 1 Hz, change the current number to 01 or 1.
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Figure 2.10 Available NMEA messages.
NOTE: The output NMEA messages will be discarded or not transmitted if the
values of the baud rate is not sufficient to transmit the desired messages. Also, the
discarded part won’t be output in the next epoch.
NOTE: The maximum update rate is 4 Hz.
2.2.6 GPS Satellite Information
Figure 2.11 shows the observable GPS satellite information, which includes SV PRN
numbers, the corresponding values for elevation, azimuth, and SNR, and indication
for utilization of satellite information in the calculation of the receiver’s position. For
a satellite not used in the calculation of the receiver’s position, the satellite will be
marked by “x” in the corresponding row of “Used in Position” and gray color in the
SNR diagram. This sub-window can be activated by two ways: “Windows/Channel
Signal Level View” or the shortcut button ?.
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Figure 2.11 GPS satellite information.
2.2.7 Receiver Information
Figure 2.12 describes the receiver information. They are:
UTC Date: day/month/year;
UTC Time: hour:minute:second;
Lat: latitude xxyy.yyyy
Lon: longitude xxxyy.yyyy
Alt: altitude (meter);
xx: degree, yy.yyyy: minute, -: southern hemisphere;
xxx: degree, yy.yyyy: minute, -: western hemisphere;
SVs(Used/All): (number of satellites used for position calculation) / (number of the
observable satellites);
Mode: 2D or 3D position;
PDOP: Position Dilution Of Precision: geometry among the receiver and GPS
satellites;
Speed: module’s speed (knot);
True Course: module’s moving direction with respect to North (clockwise, degree);
Datum: type of coordinate frame (default: WGS 84);
GPS Quality: SPS or PPS mode, position fixed or not.
The sub-window is activated by two ways: clicking “Windows/Measured Navigation
Message View” or the shortcut button ?.
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Figure 2.12 Receiver Information.
NOTE: Data displayed in the sub-windows (Figures 2.7, 2.9, 2.11, and 2.12) depend
on the user-selected output NMEA messages, i.e., if, for example, the module doesn’t
output GSV message, the associated information, such as elevation, azimuth, SNR,
etc., will not be displayed in the corresponding sub-windows.
2.2.8 Tracking View
Clicking “Windows/Tracking View”, the global position differences relative to the
first position fix will be depicted, as shown in Figure 2.13. The corresponding unit is
meter or kilometer, which is indicated in the upper right corner of the sub-window. In
Figure 2.13, there are two available functions that change the scale of the concentric
circles: “zoom in” and “zoom out”. “ The scale ranges from 10 m to 500 km.
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Figure 2.13 Tracking View.
2.2.9 User Setting
Clicking “Windows/User Setting” or the shortcut button ?, the “User Setting” window
is activated, as shown in Figure 2.14. Click “ꢀꢁ” to move among the tags.
2.2.9.1 Position
This function sets the initial latitude and longitude, as shown in Figure 2.14. For the
initial values of latitude and longitude, users can select the degree (first column from
left) and the integral part of minute (second column) from the “scroll-down” windows,
and input the fractional part of minute (0 ~ 9999) in the last (third) column.
Figure 2.14 Initial position.
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The output position will be updated as the position is fixed.
2.2.9.2 Time and day
This function sets the initial UTC date and time, as shown in Figure 2.15. The format
for UTC date is “YYYY (year), MM (month), DD (day)” and the format for UTC
time is “hh (hour), mm (minute), ss (second)”. If a setting value is less than 10, the
empty part (the left digit) of the setting value is filled by 0, for instance, 01.
Figure 2.15 Initial UTC time and day.
The initial UTC time and date will be updated as GPS satellites are acquired.
2.2.9.3 Local time zone
This function sets the time difference between the local and Greenwich (UTC
reference), as shown in Figure 2.16. The first column (from left) is “local zone hour”
ranged from –13 to 13 (i.e. - / +: East / West of Greenwich) and its corresponding
format is “hh”, i.e., the left digit might be filled by 0 if the value is less than 10. The
second column is “local zone minute” ranged from 00 to 59 and its corresponding
format is “mm”, which has the same format as the one for “local zone hour”.
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Figure 2.16 Local time zone.
2.2.9.4 Restart
This function sets the initial start-up mode, such as cold-start, warm-start, and
hot-start, for the module, as shown in Figure 2.17.
Figure 2.17 Restart.
NOTE: For implementing the hot and warm starts, the module need a backed-up
battery to run RTC and support BBR, which is used to save updated position,
ephemeris, and almanac data.
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2.2.9.5 DGPS
This function activates the differential GPS functions of the module, such as RTCM
and WAAS/EGNOS, or only GPS function without aids, as shown in Figure 2.18.
Figure 2.18 DGPS.
2.2.9.6 Interval
Referred to Section 2.2.5.
2.2.9.7 Geodetic ID
This function sets coordinate datum that users prefer, as shown in Figure 2.19. A list
of datum ID is summarized in the Appendix A.
Figure 2.19 Setting of coordinate datum.
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Chapter 3 Alternative Start
This chapter introduces an alternative utility, HyperTerminal (from Windows), to
display the NMEA information. And, Using the utility, users can send a request to poll
the desired NMEA information or implement other configurations from the module
without the aid of Sanav_Demo. The following information only describes the needed
operations for our purposes.
3.1 Connection Settings
To
activate
the
application,
HyperTerminal,
click
“Start/Programs/Accessories/Communications/HyperTerminal” under Windows.
Figure 3.1 depicts the default window of HyperTerminal. As usual, before
implementing the communication, users have to set the comm. port number, port
setting (i.e. baud rate, data bits, parity, stop bits, and flow control), and so on. The
connection/communication setting can be done by clicking “File/Properties” or the
first shortcut button from right. The resulting window is shown in Figure 3.2. But,
before a user sets any connection settings, HyperTerminal has to be in the mode of
disconnection, which can be activated by clicking the fourth shortcut button from
right. The status (connected/disconnected) can be seen at the lower right corner of the
window. The “Configure…” button in Figure 3.2 functions as port settings, such as
baud rate, data bits, parity, stop bits, and flow control.
Figure 3.1 HyperTerminal application.
NOTE: The connection settings can not be implemented while HyperTerminal is in
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the mode of connection.
Figure 3.2 Connection settings.
After setting all the necessary data, click the connection button, which is the fifth
shortcut button from right. If the setting is correct, the HyperTerminal window will
show desired output (NMEA messages), as shown in Figure 3.3, and if not, the
window will show random characters or nothing at all.
Figure 3.3. Correct connection settings.
3.2 Saving the Data
For saving the output data, click “Transfer/Capture Text…”. The subsequent window
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will ask users to input the file name and folder.
3.3 Setting Configuration or Polling Information from Module
For setting or polling the desired information, click “Transfer/Send Text File…”
button to send a “.txt” file, which contains command sentences, to activate the module.
The file is created by users before click the button, and the formats for the command
sentences are referred to Chapter 7.
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Chapter 4 Navigation
4.1 Operating Modes
4.1.1 Continuous Tracking Mode (CTM)
CTM is the default setting of the module. While the CTM is on, the module tracks
GPS signals and estimates position continuously, i.e., satellite acquisition,
reacquisition, and tracking are the states in the CTM. This is the standard operating
mode for the general GPS receivers. Therefore, this mode is not designed for saving
power but for obtaining maximum accuracy in position. In other words, the module
with the CTM on usually operates in the Full Power State and the corresponding
operating current, which depends on the activities of CPU load, I/Os, and peripheral
hardware, may fluctuate significantly.
4.1.2 FixNOW Mode (FXN)
This is a power saving mode, which will shut down the module automatically if no
GPS signals are detectable. For further saving power consumption, the FXN allows
users to set the module into Sleep State. This mode is especially important for
power-concerned products, such as handheld devices.
During this mode, the navigation data is computed as required or at the predefined
intervals. This (navigation data) can be done by using the UBX-RXM-POSREQ or
Pin 6 “Extint 0” to wake up the module and then calculate a Position-Velocity-Time
(PVT) solution during the off-time of FixNOW Mode. The other way to wake up the
module without using serial port communication or external interrupt is to utilize the
internal RTC, which is used for a timeout setting. For enabling or disabling the FXN,
send the request by using the UBX-CFG-RXM message. For the detail configuration
of this mode, refer to the UBX-CFG-FXN message.
NOTE: The descriptions of the UBX proprietary messages are referred to Chapter 7.
NOTE: To implement the current configuration in the next time, the current one has
be saved in the Battery Backed RAM (BBR), which is powered by a backed-up battery
(1.95V ~ 3.6V), or the Flash memory.
4.2 Start-Up Modes
Table 4.1 shows the differences among cold-start, warm-start, and hot-start modes.
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Conditions
Modes
Time
Position
Almanac
Ephemeris
Cold Start
Warm Start
Hot Start
None
Yes
None
Yes
None
Yes
None
None
Yes
Yes
Yes
Yes
Table 4.1 Conditions for Start-Up modes.
For the cold-start mode, the module assigns all the available SVs to 16 channels in a
defaulted order. As a satellite is acquired, GPS time, associated ephemeris and
almanac data, which will take 12.5 minutes to download the data for all the available
satellites, are being downloaded and decoded, and the module’s status is then
transferred to tracking start. Once number of tracking satellites with valid
ephemeredes are greater than and equal to 3, the module’s position is calculated and
output, i.e., the module starts to navigate.
For the warm-start mode, based on the available time (from RTC), position, and
almanac data, the channels (up to 12) are assigned with observable satellites and the
rest of them are assigned to unobservable satellites. As the observable satellites are
acquired, time and almanac data are updated (if needed) and the corresponding
ephemeredes are downloaded and decoded. As soon as the module are tracking at
least three GPS satellites, the position is calculated and updated, and the module is in
the navigation mode.
For the hot-start mode, based on the available time, position, almanac, and ephemeris
data, the channels (up to 12) are assigned with observable satellites and the rest of
them are assigned to unobservable satellites. The module enters the navigation mode
almost instantly after power on. The time and position will be updated if needed as the
satellites are acquired. But the almanac and ephemeris data will not be updated since
they are already the “newest” information.
NOTE: To implement the warm and hot starts, a backed-up battery is needed to run
the RTC. The updated position, ephemeris, and almanac can be retrieved from BBR or
Flash memory.
4.3 Aiding - AGPS
The module can implement Assisted GPS (AGPS) function, which will accept
external input information, such as time, position, almanac, and ephemeris. This will
improve the performance of the module on Time To First Fix (TTFF). How much this
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will improve on TTFF depends on the accuracy of position and time from a near base
station (service center) as well as hardware synchronization.
The AGPS function of the module is activated by sending u-blox binary protocol
UBX-AID-REQ. If there is no data available from a near base station, the module is
back to its normal start-up modes.
4.4 Sensitivity
There are three modes available for the module, which are “Normal”, “Fast
Acquisition” and “High Sensitivity”. Table 4.2 lists their associated definitions.
Sensitivity Modes
Normal
Properties
Notes
Default setting
Fast Acquisition
“Normal” sensitivity – 3 dB When the C/N0 ratio of the
strongest GPS signal is
greater than 48 dB, this
mode can be used.
High Sensitivity
“Normal” sensitivity + 3 dB When the C/N0 ratio of the
strongest GPS signal is less
than 45 dB, this mode can
be used.
Table 4.2 Available sensitivity modes.
When the module tracks the weak GPS signals, the “High Sensitivity” mode is
preferable as compared with the case for tracking strong GPS signals in which the
“Fast Acquisition” is preferable. Different modes correspond to different TTFF times
under different start-up modes, i.e., it’s a trade-off between sensitivity and TTFF time.
Usually, the TTFF relationships among three modes are
TTFFfast < TTFFnormal < TTFFhigh
where
TTFF(‧ ) : TTFF for “Fast Acquisition”, “Normal”, or “High Sensitivity” mode.
Users are recommended to use the default setting, “Normal” mode, due to the
unknown and variable operating condition that the module is surrounded. The
sensitivity setting is activated by sending the request the UBX-CFG-RXM message.
NOTE: This module has a built-in LNA. If an active antenna with gain exceeded 25
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dB is used, the “High Sensitivity” mode is not recommended.
4.5 Navigation Data
4.5.1 Position Format
The navigation data can be output in the format of local geodetic frame (latitude,
longitude, and altitude), ECEF (Earth-Centered Earth-Fixed) frame, or Universal
Transverse Mercator (UTM) frame. To poll the navigation information from the
module, send the request UBX-CFG-NAV. For FV-25, the default position settings are
expressed in the format of local geodetic frame, which can be retrieved from message
UBX-NAV-POSLLH, and ECEF frame, which can be retrieved from message
UBX-NAV-POSECEF. The position expressed in UTM frame can be obtained from
“$PUBX,01,…” under proprietary NMEA protocol. The “$PUBX,01,…” is not a
standard output for FV-25 and can be polled by sending “$PUBX,sid*cs<CR><LF>”.
NOTE: The descriptions of the standard and proprietary NMEA messages are
described in Chapter 7.
4.5.2 Datums
The position expressed in WGS 84 format (default) can be transferred to the user’s
preferable format based on more than 200 standard datums (referred to Appendix A),
or a user-defined datum, which is activated by sending the UBX-CFG-DAT message.
4.5.3 Update Rate
The module supports the update rates up to 4 Hz. This function is activated by
sending the UBX-CFG-RATE message. The default update rate is 1 Hz.
NOTE: The update rate has effects on power consumption and position accuracy.
4.5.4 Kinematic Mode
The module enables users to select the corresponding kinematic mode, such as static
case and different dynamic scenarios, for a vehicular carrier. This function is
implemented by sending the UBX-CFG-NAV message.
4.6 Navigation for Less Than 4 Observable Satellites
4.6.1 2D Navigation
When number of observable satellites is 3, the navigation algorithm of the module
allows position estimate but with the assumption of constant altitude, i.e., the module
enters 2D navigation. If the 2D position fix is the first position fix since power on, the
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initial/assumed value of the altitude is 500 m. If the 2D position fix occurs after the
3D position fix (number of observable satellites drops from at least 4 to 3), the value
of the altitude will keep the last known value of the altitude from the previous 3D
position fix.
4.6.2 Dead Reckoning
As the module loses the tracks for all observable GPS signals because of, for example,
an external blockage, the navigation algorithm implements the Dead Reckoning
strategy. The strategy assumes the same velocity and direction as the last known
values of velocity and direction, i.e., the constant velocity and direction, during the
event. Under the assumption, the positions are predicted (extrapolated) but with
indication “NoFix” until the Dead Reckoning timeout is reached. The value of the
timeout is set by the UBX-CFG-NAV message.
4.7 Almanac Navigation
With Almanac Navigation enabled, based on valid almanac, the position can be
estimated without valid ephemeris data. This is a possible scenario that the position is
fixed while ephemeris data have not been downloaded completely. Therefore, the
TTFF times are much faster for Almanac Navigation than “normal navigation” (using
ephemeredes to estimate position). However, the deviation of position can be up to a
few kilometers. However, this event might be particularly useful when users or
carriers need position desperately, such as emergency and security systems, but
“ephemeris” position is not available.
The activation of Almanac Navigation is implemented by the UBX-CFG-NAV
message. By controlling the position accuracy, use parameters in the UBX-CFG-NAV
message, such as “PDOP Mask” and “Position Accuracy Mask”, to filter out the
“outsiders”.
4.8 DGPS – WAAS, EGNOS, & RTCM
The module utilizes the correction data from WAAS, EGNOS, or RTCM to obtain
better position accuracy. Use the UBX-CFG-SBAS message, the functions for
enabling WAAS or EGNOS tracking can be activated. For activation of RTCM, the
users need an extra antenna-micro controller set, which has ability to receive and
retrieve correction data from the signal transmitted from the near service station,
connected to one of the comm. ports of the module. The corresponding comm. port
needs correct setting, which is set by the “$PUBX,41,…” message. The module
supports RTCM Correction Type Messages 1, 2, 3, and 9. For more information about
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RTCM protocol, please refer to the web site http://www.rtcm.org/.
The DGPS parameters can be changed in the UBX-CFG-NAV message, like DGPS
Timetag Rounding. Do not change them under no specific reasons because the default
values are based on real tests with DGPS function.
NOTE: The correction data from the RTCM messages can be monitored by the
UBX-NAV-DGPS message, which doesn’t provide the supervision on WAAS and
EGNOS.
4.9 Receiver Autonomous Integrity Monitoring (RAIM)
The purpose of RAIM is to monitor the received GPS signals and ensure the message
data from satellites which are valid for estimating navigation solution. With five
observable GPS satellites, a bad satellite could be detected if existed. For the case
with at least six observable satellites, an existed bad satellite could be detected and
neglected in the estimation of navigation solution. The default setting for RAIM is on
and can be controlled by three parameters- Range Check, Doppler Check, and Delta
Check (all enabled)- in the UBX-CFG-NAV message. It is recommended that RAIM
function is always on.
4.10 Time Pulse (1 PPS)
Pin 14 “Time Pulse” will output the default setting 1 PPS if it is connected. For the
Time Pulse settings and information, refer to the UBX-CFG-TP and UBX-TIM-TP
messages.
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Chapter 5 Evaluation Kit
The evaluation kit is an optional accessory while purchasing the module. It will
provide an easy way to estimate the performance of our module. The users can also
follow the reference circuit design in Chapter 2 to test the performance of the module.
In this chapter, all the information about the evaluation kit, which includes the output
ports, buttons, and LED lights, is described. As long as the procedure is correct and
complete, the module will output the desired messages at the desired port and activate
the desired functions through the desired port. All of those functions can be achieved
by using software commands. The settings and commands are described in Chapters 2
and 7.
As shown in Figure 5.1, the appearance of the evaluation kit is depicted. The whole
kit should include, in addition to the main box itself,
ꢂ
ꢂ
ꢂ
a 12 V adapter;
an active antenna with SMA (male) connector;
two RS232 cables;
Figure 5.1 Main box of the evaluation kit.
Figure 5.2 shows the front panel of the evaluation kit. It includes (from left to right)
Power Switch, Comm. Port 2, Boot button, LED function lights, and Reset button.
The default output protocol for Comm. Port 2 is UBX binary messages with baud rate
57600 bps. The Boot button is for read/write purpose to the flash memory. The
definitions for LED lights are indicated in the figure. The Reset button can be used to
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re-start up the GPS module in the either Continuous Tracking Mode or FixNow mode.
Figure 5.2 Front panel of the evaluation kit.
Figure 5.3 shows the back panel of the evaluation kit. It includes (from left to right)
the Antenna Input, Comm. Port 1, 1PPS Output, and Power Input. The Antenna Input
is a SMA female connecter which is for 3.0 V or 5.0 V active antenna depending on
the jump position (J16). The Comm. Port 1 outputs NMEA messages at the baud rate
of 19200 bps as the default setting. The 1PPS Output, which is a BNC (female) output
port, is used to output a time pulse per second. For the Power Input of the kit, it
accepts the input voltage in the range of 8 ~ 40 V.
Figure 5.3 Back panel of the evaluation kit.
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Both Comm. ports are the bi-directional ports, i.e., the ports also accepts user software
commands. For receiving RTCM message, either port can be used to accept the data
through software command.
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Chapter 6 Antennas
To get the maximum performance from the module, in addition to the own properties
of the module, one of the important factors is how to select fitted antennas for the
module because the quality of the received signals is determined as soon as the signals
enter the RF section and can not be improved much by the subsequent filters and
amplifiers.
The character of the GPS signal is right hand circular polarized (RHCP). So, for
obtaining good GPS signals without losing too much, it’s better to use the RHCP
antennas. Otherwise, for example, using a simple linear polarized antenna to receive
GPS signals, the received GPS signals will lose at least 3 dB in SNR. In addition, the
size of an antenna also affects the received signal energy or SNR. Usually, the smaller
the size of the antenna, the lower overall gain pattern of the antenna. In other words,
the smaller size of the antenna will result in the lower SNR of the received GPS
signals. As more and more new antenna products emphasize on the size issue because
of more and more GPS related portable devices appeared, there is no way to avoid this
problem (low SNR), even with the aid of an amplifier after the antenna.
Therefore, for retrieving the most information, a large size antennas are preferable,
and even for special applications (e.g. surveying), a special mechanism structure
design is desirable, such as choke ring antenna which is used for mitigating multipath
effect. As a result, an antenna with large size, high power consumption, and high cost
is produced for high precision applications. Furthermore, for high precision
applications with millimeter accuracy in position, it is important to have stable phase
centers (L1/L2) that are exactly known.
6.1 Passive Antennas
Utilizing passive antennas in users’ applications, more attention is needed in the
layout of the RF section. Usually, the passive antenna is placed next to a module as
close as possible because of dB loss and no power amplification. However, the
proximity of antenna to electronic parts will induce the interference on the incoming
GPS signals from the module and the peripheral electronic circuits, even worse the
interference will cause signal jamming. Therefore, more careful considerations on the
layout of RF section should be taken. This selection is only suitable for those who are
familiar with the RF design.
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For using passive antennas, the pin VANT (DC bias voltage) on the module is
connected to ground, and the antenna is directly connected to the GPS signal input pin
ANT. Sometimes, a passive matching connection is required to match the electrical
circuit to 50 Ohms impedance.
6.2 Active Antennas
For FV-25, the active antenna is integrated with a Low Noise Amplifier (LNA), which
is a built-in component part, in the RF section. Through pin ANT, the module obtains
the incoming signal from the antenna. The power supply for the active antenna is
from pin VANT and, in general, the supply voltage is transmitted by the coaxial RF
cable. The supply voltage in pin VANT is supported by either source. One is from the
external power supply and the other is from the output pin VRF (connected with
VANT), which is the power supply from the module for RF section. The voltage
requirements for the antenna and the pins on the module have to be specified.
The use of the active antennas will decrease the “bad” effects, which result from the
cable loss and hardware noises, on the received GPS signals. Therefore, the placement
of the active antenna can be away from the possible noise sources, for example, the
module and peripheral circuits, and the active antenna will have good performance if
it is located far from the noise sources. This will ease the circuit design, and the
received signals is less sensitive to jamming. But the active antenna will increase the
power consumption of the whole system, typically in the range of 5 mA to 20 mA.
It is recommended to use an active antenna if the cable length between module and
antenna exceeds 10 cm. The same advice also goes for users without much experience
on the RF design. For FV-25, the active antenna gain should not exceeds 25 dB
because an saturation (overload) condition might occur for high gain (> 25 dB) cases.
NOTE: It’s better not to disconnect antenna during the operation of the module. The
calculation of the reference floor noise is based on the actual condition after the
power is turned on. Hence, the reacquisition time may be prolonged after
re-connecting the antenna to the module.
NOTE: To verify the reacquisition time, users can use a physical object to block the
antenna from receiving the signal until the module loses the lock of the satellites and
then take the object away from the antenna.
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6.3 Active Antenna Supervisor - Short Circuit Protection
This is a built-in function that is monitored by the BaseBand processor. If an
abnormal current occurs and is detected, the voltage supply at pin VANT (from the
external or internal power supply) will be turned off by the BaseBand processor. The
way to reset the operation of the module is to have a hardware reset of the module,
such as turning off and then on the module or pressing the reset button.
NOTE: Without the short circuit protection, the large current will cause the damage
on the module permanently.
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Chapter 7 Available NMEA and UBX Messages
7.1 NMEA Protocol
The NMEA protocol expresses the data in the format of ASCII. This is a standard
format for GPS applications. The module (FV-25) outputs two types of NMEA
messages. One is the standard NMEA messages, that are widely accepted by plotters
and GPS related devices, and the other is u-blox proprietary NMEA messages.
7.1.1 Standard NMEA Messages
The module can output 10 standard NMEA messages, which are
GGA – Global Positioning System Fix Data;
GLL – Geographic Position – Latitude/Longitude;
GRS – GNSS Range Residuals;
GSA – GNSS DOP and Active Satellites;
GST – GNSS Pseudorange Error Statistics;
GSV – GNSS Satellites in View;
RMC – Recommended Minimum Specific GNSS Data;
TXT – Test Transmission;
VTG – Course Over Ground and Ground Speed;
ZDA – Time & Date.
The default output messages include all messages except the TXT message. Those
messages are output at comm. port 1 at the rate of 19200 bps (default setting). The
request for outputting user-selected standard NMEA messages is the “$xxGPQ,..”
message (referred to the following interpretation for GPQ). The port settings can be
performed by sending the “$PUBX,41,..” message (ASCII format) or UBX-CFG-PRT
message (Binary format).
The following will summarize the available NMEA messages. More information
about the NMEA messages refers to “NMEA 0183, Standard For Interfacing Marine
Electronic Devices, Version 2.30, March 1, 1998”.
NOTE: In the NMEA messages, the position fix is valid only if the following
conditions are satisfied: 1) at least three satellites observable (i.e. 2D or 3D); 2) for
the 3D case, the position accuracy should be less than the setting value of the
“Position Accuracy Mask”; 3) The PDOP value is constrained by the setting value of
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the “PDOP Accuracy Mask”.
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GGA – GPS Fix Data
Position fix related data, such as position, time, number of satellites in use, etc..
$GPGGA,gga1,gga2,gga3,gga4,gga5,gga6,gga7,gga8,gga9,gga10,gga11,gga12,gga
13,gga14*hh<CR><LF>
Parameters
Descriptions
Notes
gga1
UTC time as position is fixed
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
gga2
Latitude
ddmm.mmmmm: dd – degree;
mm.mmmmm – minute (0o ~ 90o)
N – North; S - South
gga3
gga4
Latitude sector
Longitude
dddmm.mmmmm: dd – degree;
mm.mmmmm – minute (0o ~ 180o)
E – East; W - West
gga5
gga6
Longitude sector
GPS quality indicator
0 – No fixed or invalid position
1 – SPS Position available
2 – Differential GPS (SPS)
6 – Estimated position (DR)
gga7
Number of SVs used in position xx: 00 ~ 12
estimation
gga8
gga9
HDOP
xx.x: 00.0 ~ 99.9
Altitude above mean sea level
(geoid)
gga10
gga11
gga12
gga13
Unit for Altitude
M: meter
Geoidal separation
Unit for geoidal separation
Age of differential corrections
M: meter
unit : second; null when DGPS is
not used
gga14
hh
Reference station ID (DGPS)
Checksum
xxxx: 0000 ~ 1023
hex number (2 – character)
<CR><LF> End of message
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GLL – Geographic Position – Latitude/Longitude
Navigation data and status.
$GPGLL,gll1,gll2,gll3,gll4,gll5,gll6,gll7*hh<CR><LF>
Parameters
Descriptions
Notes
gll1
Latitude
ddmm.mmmmm: dd
mm.mmmmm – minute (0o ~ 90o)
–
degree;
gll2
gll3
Latitude sector
Longitude
N – North; S – South
dddmm.mmmmm: ddd
mm.mmmmm – minute (0o ~ 180o)
–
degree;
gll4
gll5
Longitude sector
E – East; W – West
UTC time as position is fixed hhmmss.ss: hh – hour; mm – minute;
ss.ss – second
gll6
gll7
Status for position fix
A – Valid; V – Invalid
A – Autonomous mode (fix);
D – Differential mode (fix);
E – DR (fix);
Navigation mode indicator
N – not valid
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
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GRS – GNSS Range Residual
This message is used to monitor and support RAIM.
$GPGRS,grs1,grs2,(grs3*12)*hh<CR><LF>
Parameters
Descriptions
Notes
grs1
UTC time from the GGA
hhmmss.ss: hh – hour;
mm – minute; ss.ss –
second
grs2
Mode to indicate the way to calculate Always in Mode 1
the range residuals.
0 – calculate the range residuals while
the GGA position is estimated;
1 – recalculate the range residuals after
the GGA position is estimated.
grs3*12
Range residuals for satellites used in -999.9 ~ 999.9
position calculation. There will be 12
available fields for residuals. If number
of satellites is less than 12, the
remaining fields will be left as empty
fields. If number of satellites is greater
than 12, only the values of the first 12
satellites will be output.
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
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GSA – GNSS DOP and Active Satellites
Receiver operating mode, the values of DOPs, and PRN numbers for satellites used in
the GGA position solution.
$GPGSA,gsa1,gsa2,(gsa3*12),gsa4,gsa5,gsa6*hh<CR><LF>
Parameters
gsa1
Descriptions
Mode for position fix
Notes
gsa2
1 – fix not available;
2 – 2D;
3 – 3D;
gsa3*12
PRN numbers for satellites used in the xx
position solution. There will be 12
available fields for PRN numbers. If
number of satellites is less than 12, the
remaining fields will be left as empty
fields. If number of satellites is greater
than 12, only the values of the first 12
satellites will be output.
gsa4
gsa5
gsa6
hh
PDOP
0 ~ 99.9
HDOP
0 ~ 99.9
VDOP
0 ~ 99.9
Checksum
hex number (2 – character)
<CR><LF> End of message
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GST – GNSS Pseudorange Error Statistics
This message is used to monitor and support RAIM.
$GPGST,gst1,gst2,gst3,gst4,gst5,gst6,gst7,gst8*hh<CR><LF>
Parameters
Descriptions
Notes
gst1
UTC time from the GGA
hhmmss.ss: hh – hour;
mm – minute; ss.ss –
second
gst2
gst3
gst4
gst5
gst6
gst7
gst8
hh
RMS value of the standard deviation of
the range
Standard deviation of semi-major axis of Not supported (empty field)
error ellipse (meters)
Standard deviation of semi-minor axis of Not supported (empty field)
error ellipse (meters)
Orientation of semi-major axis of error Not supported (empty field)
ellipse
Standard deviation of latitude error
(meters)
Standard deviation of longitude error
(meters)
Standard deviation of altitude error
(meters)
Checksum
<CR><LF> End of message
hex number (2 – character)
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GSV – GNSS Satellites in View
This message indicates the observable satellites’ information, such as PRN numbers,
elevation, azimuth, SNR, and number of satellites in view.
$GPGSV,gsv1,gsv2,gsv3,((gsv4,gsv5,gsv6,gsv7)*n)*hh<CR><LF>
Parameters
gsv1
Descriptions
Total number of messages
Message number
Notes
1 ~ 9
1 ~ 9
gsv2
gsv3
Total number of satellites in view
PRN number
gsv4
gsv5
Elevation (degrees)
Azimuth (degrees)
90o maximum
0o ~ 360o
gsv6
gsv7
SNR (C/N0)
0 ~ 99 dB-Hz, null when not
tracking
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
The message can carry at most four (gsv4,gsv5,gsv6,gsv7) sets of observable satellites.
For a less than four-set case, the message only transmits available sets and the rest of
them will not be output, i.e., the message doesn’t transmit empty fields.
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RMC – Recommended Minimum Specific GNSS Data
This message transmits the necessary navigation data, such as time, position, speed,
course, and so on.
$GPRMC,rmc1,rmc2,rmc3,rmc4,rmc5,rmc6,rmc7,rmc8,rmc9,rmc10,rmc11,rmc
12*hh<CR><LF>
Parameters
Descriptions
Notes
rmc1
UTC time as position is fixed
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
rmc2
rmc3
Status of position fix
Latitude
A – data valid, which includes the
scenarios of 2D, 3D, and DR.
V – navigation receiver warning
ddmm.mmmmm: dd – degree;
mm.mmmmm – minute (0o ~ 90o)
N – North; S – South
rmc4
rmc5
Latitude sector
Longitude
dddmm.mmmmm: ddd – degree;
mm.mmmmm – minute (0o ~ 180o)
dddmm.mmmmm: ddd – degree;
mm.mmmmm – minute (0o ~ 180o)
rmc6
Longitude sector
rmc7
rmc8
Speed over ground (SOG) (knots)
Course over ground (COG) Referenced to true north
(degrees)
rmc9
UTC Date
ddmmyy: dd – day; mm – month;
yy – year
rmc10
rmc11
rmc12
Magnetic variation (degrees)
Direction of magnetic variation
Navigation mode indicator
Not supported
Not supported
A – Autonomous mode (fix);
D – Differential mode (fix);
E – DR (fix);
N – not valid
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
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TXT – Text Transmission
The message is used to transmit short text messages. Transmitting a longer message
needs multi-TXT messages.
$GPTXT,txt1,txt2,txt3,txt4*hh<CR><LF>
Parameters
txt1
Descriptions
Total number of messages
Message number
Notes
01 ~ 99
01 ~ 99
00 – error
txt2
txt3
Text identifier
01 – warning
02 – notice
07 – user
txt4
hh
Text
ASCII format
hex number (2 – character)
Checksum
<CR><LF> End of message
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VTG – Course Over Ground and Ground Speed
This message transmits the speed and course relative to ground.
$GPVTG,vtg1,vtg2,vtg3,vtg4,vtg5,vtg6,vtg7,vtg8,vtg9*hh<CR><LF>
Parameters
Descriptions
Notes
vtg1
Course over ground (degrees)
Referenced to true north
(000.00o ~ 359.99o)
vtg2
vtg3
Indicator of course reference
Course over ground (degrees)
T – true north
Referenced to magnetic
north (000.00o ~ 359.99o)
M – magnetic north
vtg4
vtg5
vtg6
vtg7
vtg8
vtg9
Indicator of course reference
Speed over ground (knots)
Unit of speed
N – nautical miles per hour
Speed over ground (km/hr)
Unit of speed
K – kilometers per hour
A – Autonomous mode
(fix);
Navigation mode indicator
D – Differential mode (fix);
E – DR (fix);
N – not valid
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
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ZDA – Time & Date
This message transmits UTC time and date, and local time zone.
$GPZDA,zda1,zda2,zda3,zda4,zda5,zda6*hh<CR><LF>
Parameters
Descriptions
Notes
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
01 ~ 31
zda1
UTC time
zda2
zda3
zda4
zda5
zda6
hh
UTC day
UTC month
UTC year
01 ~ 12
xxxx (4 digits)
Local zone hours
Local zone minutes
Checksum
Not supported (default: 00)
Not supported (default: 00)
hex number (2 – character)
<CR><LF> End of message
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7.1.2 Proprietary NMEA Messages
The non-standard NMEA messages is proposed by u-blox. The proprietary
(non-standard) NMEA messages are grouped into two categories:
Proprietary NMEA (PUBX)
PUBX,00 – Latitude/Longitude Position Data
PUBX,01 – UTM Position Data
PUBX,03 – Satellite Status
PUBX,04 – Time of Day and Clock Information
PUBX,40 – Set NMEA Message Update Rate
PUBX,41 – Set Protocols and Baudrate
Queries
GPQ – Polls a Standard NMEA Message
PUBX – Polls a PUBX Message.
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PUBX, 00 – Latitude/Longitude Position Data
Output message. This message transmits navigation data defined in the local geodetic
frame.
$PUBX,00,p00x1,p00x2,p00x3,p00x4,p00x5,p00x6,p00x7,p00x8,p00x9,p00x10,p0
0x11,p00x12,p00x13,p00x14,p00x15,p00x16,p00x17,p00x18,p00x19*hh<CR><LF
>
Parameters
Descriptions
Notes
p00x1
UTC time
Latitude
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
p00x2
ddmm.mmmmm: dd – degree;
mm.mmmmm – minute (0o ~ 90o)
N – North; S – South
p00x3
p00x4
Latitude sector
Longitude
dddmm.mmmmm: ddd – degree;
mm.mmmmm – minute (0o ~ 180o)
E – East; W – West
p00x5
p00x6
p00x7
Longitude sector
Altitude above ellipsoid (meters)
Navigation mode
NF – not fix
DR – dead reckoning solution
G2 – 2D
G3 – 3D
D2 – differential 2D
D3 – differential 3D
p00x8
p00x9
Position accuracy in the horizontal 0 ~ 9999
direction (meters)
Position accuracy in the vertical 0 ~ 9999
direction (meters)
p00x10
p00x11
p00x12
Speed over ground (km/hr)
Course over ground (degrees)
-999.99 ~ 999.99
000.00 ~ 359.99
Velocity in the vertical direction -999.99 ~ 999.99 (positive: up)
(m/s)
p00x13
Age
of
DGPS
corrections 000.00 ~ 999.99 (empty field for
(seconds)
HDOP
not available)
00.0 ~ 99.9
00.0 ~ 99.9
00.0 ~ 99.9
p00x14
p00x15
p00x16
p00x17
VDOP
GDOP
Number of GPS satellites used in
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the position calculation
p00x18
Number of GLONASS satellites Always 0
used in the position calculation
p00x19
hh
Dead reckoning used
Checksum
0 – No; 1 – Yes
hex number (2 – character)
<CR><LF> End of message
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PUBX, 01 – UTM Position Data
Output message. This message transmits navigation data defined in the Universal
Transverse Mercator (UTM) frame.
$PUBX,01,p01x1,p01x2,p01x3,p01x4,p01x5,p01x6,p01x7,p01x8,p01x9,p01x10,p0
1x11,p01x12,p01x13,p01x14,p01x15,p01x16,p01x17,p01x18,p01x19*hh<CR><LF
>
Parameters
Descriptions
Notes
p01x1
UTC time
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
p01x2
p01x3
p01x4
p01x5
p01x6
p01x7
UTM Easting (meters)
Longitude sector
E – East; W – West
N – North; S – South
UTM Northing (meters)
Hemisphere
Altitude above ellipsoid (meters)
Navigation mode
NF – not fix
DR – dead reckoning solution
G2 – 2D
G3 – 3D
D2 – differential 2D
D3 – differential 3D
p01x8
p01x9
Position accuracy in the horizontal 0 ~ 9999
direction (meters)
Position accuracy in the vertical 0 ~ 9999
direction (meters)
p01x10
p01x11
p01x12
Speed over ground (km/hr)
Course over ground (degrees)
-999.99 ~ 999.99
000.00 ~ 359.99
Velocity in the vertical direction -999.99 ~ 999.99 (positive: up)
(m/s)
p01x13
Age
of
DGPS
corrections 000.00 ~ 999.99 (empty field for
(seconds)
HDOP
not available)
00.0 ~ 99.9
00.0 ~ 99.9
00.0 ~ 99.9
p01x14
p01x15
p01x16
p01x17
VDOP
GDOP
Number of GPS satellites used in
the position calculation
p01x18
Number of GLONASS satellites Always 0
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used in the position calculation
Dead reckoning used
Checksum
p01x19
hh
0 – No; 1 – Yes
hex number (2 – character)
<CR><LF> End of message
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PUBX,03 – Satellite Status
Output message.
$PUBX,03,p03x1,((p03x2,p03x3,p03x4,p03x5,p03x6,p03x7)*n)*hh<CR><LF>
Parameters
p03x1
Descriptions
Number of GPS satellites tracked
PRN number
Notes
p03x2
01 ~ 32
p03x3
Satellite status
- – not used
U – used
e – available for navigation,
but no ephemeris
000 ~ 359
p03x4
p03x5
p03x6
p03x7
Azimuth (degrees)
Elevation (degrees)
SNR (dB-Hz)
00 ~ 90
00 ~ 55
Carrier lock time (seconds)
0 ~ 255
0: code lock only;
255: lock time at least 255
seconds.
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
The message will
repeatedly
output
the
format-
(p03x2,p03x3,p03x4,p03x5,p03x6,p03x7)- n times, which is equal to the value in
p03x1 field.
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PUBX,04 – Time of Day and Clock Information
Output message. This message transmits UTC time, week number, and clock offset.
$PUBX,04,p04x1,p04x2,p04x3,p04x4,p04x5,p04x6,p04x7,p04x8*hh<CR><LF>
Parameters
Descriptions
Notes
p04x1
UTC time
UTC date
hhmmss.ss: hh – hour; mm –
minute; ss.ss – second
ddmmyy: dd – day; mm – month;
yy – year
p04x2
p04x3
p04x4
p04x5
p04x6
p04x7
UTC – time of week (seconds)
GPS week number
Reserved
Receiver clock bias (nanoseconds)
Receiver
clock
drift
(nanoseconds/second)
p04x8
hh
Time pulse granularity (nanoseconds)
Checksum
hex number (2 – character)
<CR><LF> End of message
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GPQ – Poll Message
Input message. Poll a standard NMEA message.
$xxGPQ,gpq1*hh<CR><LF>
Parameters
$xxGPQ
gpq1
Descriptions
NMEA message header
NMEA message ids
Notes
xx: talker device identifier
String format: GGA, GLL,
GRS, GSA, GST, GSV,
RMC, TXT, VTG, and ZDA
hex number (2 – character)
hh
Checksum
<CR><LF>
End of message
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PUBX – Poll a PUBX Message
Input message. Poll the proprietary PUBX messages.
$PUBX,p1*hh<CR><LF>
Parameters
Descriptions
Proprietary message ids
Checksum
Notes
p1
hh
xx: 00, 01, 03, and 04
hex number (2 – character)
<CR><LF> End of message
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PUBX,40 – Set NMEA Message Output Rate
Input message.
$PUBX,40,p40x1,p40x2,p40x3,p40x4,p40x5*hh<CR><LF>
Parameters
Descriptions
NMEA message ids
Notes
String format: GGA, GLL, GRS,
GSA, GST, GSV, RMC, TXT, VTG,
and ZDA
p40x1
p40x2
Number of cycles
USART 0 output rate
0 – disabled
1 - enabled
p40x3
p40x4
p40x5
hh
Number of cycles
Number of cycles
Reserved
USART 1 output rate
USART 2 output rate
Always 0
Checksum
hex number (2 – character)
<CR><LF> End of message
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PUBX,41 – Set Protocols and Baudrate
Input message.
$PUBX,41,p41x1,p41x2,p41x3,p41x4,p41x5*hh<CR><LF>
Parameters
p41x1
Descriptions
Notes
USART id
0, 1, 0r 2
p41x1
Input protocol mask
0 – UBX
1 – NMEA
2 – RTCM
12 – 15: USER0 ~ USER3
0 – UBX
p41x1
Output protocol mask
1 – NMEA
2 – RAW
12 – 15: USER0 ~ USER3
p41x1
p41x1
Baudrate (bps)
Autobauding*
0 – disabled
1 - enabled
hh
Checksum
hex number (2 – character)
<CR><LF> End of message
*: The Autobauding function will adjust the baud rate of the serial port automatically
based on the detected conditions, such as multiple break and framing-error conditions.
NOTE: If the comm. port of your host PC experiences errors frequently, please
disable the Autobauding function.
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7.2 UBX Binary Protocol
To obtain the maximum performance from GPS chips, which mainly consists of
FV-25, u-blox proposed a proprietary binary protocol. The binary protocol can set and
poll all the available actions and messages from the module. Using asynchronous
RS232 ports, the module communicates with a host platform in terms of the
alternative, UBX protocol, to carry GPS data. The noticeable features for the UBX
protocol are
1. 8 bits binary data;
2. low-overhead checksum algorithm;
3. 2-stage message identifier, i.e., Class ID + Message ID.
Figure 7.1 depicts the sentence structure for the UBX protocol. The UBX messages
always begin with “0xB5 0x62” (hex number). The selection of a CLASS ID and
MESSAGE ID, which are described in the end of this section, depends on the user’s
need, and it will also define the content of DATA and its corresponding length (i.e. the
value of DATA LENGTH). For those multi-byte values, the rule of little Endian
is adopted for transmitting the values. It is noticeable that the DATA LENGTH is
the value to indicate the length that only contains the subsequent input/output DATA
and doesn’t include the checksum bytes.
SYNC
CHAR
# 2
MESSAGE
ID
CHECKSUM
CK_B
CHECKSUM
DATA
Little Endian
DATA
LENGTH
SYNC
CHAR
# 1
CLASS
ID
Little Endian
CK_A
1 BYTE
0xB5
1 BYTE
2 BYTES
1 BYTE
VARIED, depends
1 BYTE
0x62
1 BYTE
1 BYTE
on the size of content of the
“CLASS + MESSAGE”
ID
indicates the following length for data which
doesn’t include the 2 bytes for checksum.
Figure 7.1 UBX protocol structure.
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For the calculation of the checksum, u-blox utilizes the low-overhead checksum
algorithm, which is the TCP standard (RFC 1145). The calculation of the checksum
covers the range from the CLASS ID byte (included) to DATA bytes (included). It can
be described as
CK_A=0;
CK_B=0;
for(i = 0;i < N;i ++)
{
CK_A += buffer[i];
CK_B += CK_A;
}
where
CK_A and CK_B: 8-bit unsigned integers;
buffer[‧ ]: vector that contains the data in the calculating range (i.e. from CLASS
ID to DATA);
N: number of bytes that contains the desired data.
The two checksums have to be masked with 0xFF after the operations in the loop, if
large-sized integer values are executed.
7.2.1 Data Format
Table 7.1 describes the types of data that are used in the module. On the basis of
IEEE754 single/double precision, the floating-point values are defined.
Acronym
Date Type
Size
Range
0 ~ 255
Resolution
Note
(bytes)
U1
I1
Unsigned Char
Signed Char
1
1
1
1
-128 ~ 127
2’s
complement
U2
I2
Unsigned Short
Signed Short
2
2
0 ~ 65535
1
1
-32768 ~ 32767
2’s
complement
U4
I4
Unsigned Long
Signed Long
4
4
0 ~ 4294967295 1
-2147483648 ~ 1
2147483647
2’s
complement
R4
IEEE754 Single
Precision
4
-1*2127 ~ 2127
~Value*2-24
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R8
IEEE754 Double
Precision
8
1
-1*21023 ~ 21023 ~Value*2-53
CH
ASCII
/
ISO
8859.1 Encoding
Table 7.1 The types of data.
7.2.2 Classification of UBX Messages
The u-blox proprietary messages are classified into 9 groups. Based on a specific
topic, each group contains the associated information. They are summarized in Table
7.2.
Class ID Class Name Class No (Hex)
Comment
Acknowledgement
Aiding
Respond to the input request: Ack/Nack
AGPS or other similar functions
Configuration input: port setting, DOP mask, etc.
Printf-Style messages: Error, Warning , Notice
Monitor the stack usage, CPU load, task status,
etc.
ACK
AID
0x05
0x0B
0x06
0x04
0x0A
Configuration
Informative
Monitor
CFG
INF
MON
Navigation
Navigation information: PVT, DOP, Course
Receiver manager messages: Pseudorange,
Channel status
NAV
0x01
0x02
Receiver Manager
RXM
Timing
Update
Time pulse data: 1 PPS
TIM
UPD
0x0D
0x09
Firmware update messages
Table 7.2 UBX message classes.
7.2.3 Responses to the Users’Inputs
Basically, there are two kinds of module’s responses for the users’ requests:
Acknowledgement and Polling Mechanism. When users send the Class CFG messages
to the module, the module will reply the Acknowledgement or Not Acknowledgement
message based on whether the desired message is implemented correctly or not. For
the Polling Mechanism, the messages that can be output also can be polled. In this
particular protocol, the output and polling requests use the same message. The
difference between both is that, for the polling purpose, the message doesn’t contain
the DATA, i.e., the value of the DATA LENGTH is 0.
NOTE: The default settings for output the binary messages from the module are on
the comm. port 2 with the baud rate 57600 bps.
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7.2.4 UBX Messages
UBX Class ACK
This class is used for responding a CFG message.
ACK – ACK (0x05 0x01)
Message acknowledged.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x05 0x01
2
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
Class ID for the desired
acknowledged message
Message ID for the desired
acknowledged message
1
U1
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ACK – NAK (0x05 0x00)
Message not-acknowledged.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x05 0x00
2
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
Class ID for the desired
not-acknowledged message
Message ID for the desired
not-acknowledged message
1
U1
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UBX Class AID
This class is used to support AGPS function or send aiding data, such as time, position,
almanac, and ephemeris, to the GPS receiver.
AID – REQ (0x0B 0x00)
It’s a virtual request to poll all GPS aiding data (AID-DATA). The character of
AID-REQ is determined by CFG-MSG. If AID-REQ is set as the output message and
the internal stored data (i.e. time, position, almanac, and ephemeris) don’t allow the
receiver to execute a hot start, the receiver will request to poll all the aiding data after
startup.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x00
0
None
CK_A CK_B
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AID – DATA (0x0B 0x10)
It’s a request to poll all the GPS initial aiding data. This message will activate the
sending of AID-INI, AID-HUI, AID-EPH, and AID-ALM as it is received by the
module.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x10
0
None
CK_A CK_B
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AID – INI (0x0B 0x01)
It’s a poll request when “data length” is equal to 0. Poll GPS initial aiding data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x01
0
None
CK_A CK_B
AID – INI (0x0B 0x01)
This is an I/O message. It contains the information of position and time. As an output
message, the value of the clock drift is always 0 and assigned invalid.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x01
48
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
4
I4
I4
X coordinate in the ECEF frame (cm)
Y coordinate in the ECEF frame (cm)
Z coordinate in the ECEF frame (cm)
Position accuracy (cm)
8
I4
12
16
U4
U2
Standard deviation
Time mark configuration
0x01 – enable time mark
0x02 – falling edge
Pin used for time mark:
0x00 – Extint 0
0x10 – Extint 1
0x20 – Extint 2
18
20
24
28
32
36
40
44
U2
U4
I4
GPS week number
GPS time of week (ms)
Subms part of GPS time (ns)
Millisecond part of time accuracy (ms)
Nanosecond part of time accuracy (ns)
Clock drift (ns/s)
U4
U4
I4
U4
U4
Clock drift accuracy (ns/s)
Flags
0x1 – valid position fields
0x2 – valid time fields
0x4 – valid clock drift
fields
0x8 – accurate time is
input by with time pulse
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AID – HUI (0x0B 0x02)
It’s a poll request when “data length” is equal to 0. Poll GPS health, UTC, and
Ionosphere data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x02
0
None
CK_A CK_B
AID – HUI (0x0B 0x02)
It’s an I/O message. It transmits GPS health, UTC, and Ionosphere (Klobuchar
parameters) data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x02
72
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Health bit mask
Notes
0
U4
Every bit represents the
health of a GPS satellite (1
~ 32). 1 – health; 0 – not
health
4
R8
R8
I4
UTC – parameter A1
12
20
24
26
UTC – parameter A0
UTC – reference time of week
UTC – reference week number
UTC – time difference because of leap
seconds before event occurs
UTC – week number when the next
leap-second event occurs
UTC – day of week when the next
leap-second event occurs
UTC – time difference because of leap
seconds after event occurs
UTC – spare to ensure the sentence
structure is a multiply of 4 bytes
Alpha0
I2
I2
28
30
32
34
I2
I2
I2
I2
36
40
44
R4
R4
R4
Klobuchar parameters
Klobuchar parameters
Klobuchar parameters
Alpha1
Alpha2
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48
52
56
60
64
68
R4
R4
R4
R4
R4
U4
Alpha3
Beta0
Beta1
Beta2
Beta3
Flag3
Klobuchar parameters
Klobuchar parameters
Klobuchar parameters
Klobuchar parameters
Klobuchar parameters
0x1 – valid health bit
mask fields
0x2
–
valid
UCT
parameter fields
0x4 – valid Klobuchar
parameter fields
73
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AID – ALM (0x0B 0x30)
It’s a poll request when “data length” is equal to 0. Poll all available aiding almanac
data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x30
0
None
CK_A CK_B
AID – ALM (0x0B 0x30)
It’s also a poll request. Poll a specific aiding almanac data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x30
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
PRN number
This will request the desired
almanac data for the specific
GPS satellite
AID – ALM (0x0B 0x30)
It’s an I/O message. Poll aiding almanac data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x30
40
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
PRN number
The following data are for this
specific satellite
4
U4
Issue date of Almanac
GPS week number.
If this value is equal to 0, the
following Words (0 ~ 7) don’t
contain the valid data.
8
U4
U4
U4
U4
U4
Almanac – WORD0
Almanac – WORD1
Almanac – WORD2
Almanac – WORD3
Almanac – WORD4
12
16
20
24
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28
32
36
U4
U4
U4
Almanac – WORD5
Almanac – WORD6
Almanac – WORD7
NOTE: 1. WORD0 ~ WORD7 contain the data following the Hand-Over Word
(HOW) in the navigation message. The data are from the sub-frame 4 of Pages 1 ~ 24
and the sub-frame 5 of Pages 2 ~ 10. More information about almanac data structure
is referred to ICD-GPS-200.
2. WORD0 ~ WORD7 don’t include the data of the parity bits. Hence, Bits 0 ~ 23 is
used to locate the 24 bits of the data and Bits 24 ~ 31 are the sign-extension of the
data.
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AID – EPH (0x0B 0x31)
It’s a poll request when “data length” is equal to 0. Poll all available aiding ephemeris
data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x31
0
None
CK_A CK_B
AID – EPH (0x0B 0x31)
It’s also a poll request. Poll a specific aiding ephemeris data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x31
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
PRN number
This will request the desired
almanac data for the specific
GPS satellite
AID – EPH (0x0B 0x31)
It’s an I/O message. Poll aiding almanac data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0B 0x31
8+n*96
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
PRN number
The following data are for this
specific satellite
4
U4
Hand-Over Word (HOW) of the 0 – invalid ephemeris data
first sub-frame
The following data will be repeated n times (n: number of valid ephemerides).
8+n*96
12+n*96
16+n*96
20+n*96
24+n*96
28+n*96
U4
U4
U4
U4
U4
U4
Sub-frame 1 – WORD0
Sub-frame 1 – WORD1
Sub-frame 1 – WROD2
Sub-frame 1 – WORD3
Sub-frame 1 – WORD4
Sub-frame 1 – WORD5
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32+n*96
36+n*96
40+n*96
44+n*96
48+n*96
52+n*96
56+n*96
60+n*96
64+n*96
68+n*96
72+n*96
76+n*96
80+n*96
84+n*96
88+n*96
92+n*96
96+n*96
100+n*96
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
Sub-frame 1 – WORD6
Sub-frame 1 – WORD7
Sub-frame 2 – WORD0
Sub-frame 2 – WORD1
Sub-frame 2 – WORD2
Sub-frame 2 – WORD3
Sub-frame 2 – WORD4
Sub-frame 2 – WORD5
Sub-frame 2 – WORD6
Sub-frame 2 – WORD7
Sub-frame 3 – WORD0
Sub-frame 3 – WORD1
Sub-frame 3 – WORD2
Sub-frame 3 – WORD3
Sub-frame 3 – WORD4
Sub-frame 3 – WORD5
Sub-frame 3 – WORD6
Sub-frame 3 – WORD7
NOTE: 1. Sub-frame 1 – WORD0 ~ Sub-frame 3 – WORD7 contain the data
following the Hand-Over Word (HOW) in the navigation message. The data are from
the sub-frame 1 to sub-frame 3. More information about ephemeris data structure is
referred to ICD-GPS-200.
2. Sub-frame 1 – WORD0 ~ sub-frame 3 – WORD7 don’t include the data of the parity
bits. Hence, Bits 0 ~ 23 is used to locate the 24 bits of the data and Bits 24 ~ 31 are
the sign-extension of the data.
77
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UBX Class CFG
This class is used to configure the GPS module and output the current configuration
of the GPS module. The module will respond the ACK-ACK message if the request is
proceeded correctly and ACK-NAK message if the request is failed.
CFG – PRT (0x06 0x00)
It’s a poll request. Poll the current configuration for a specific comm. port.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x00
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
Port number
CFG – PRT (0x06 0x00)
It’s an I/O message. As an input message, the port configurations for several ports can
be put together into one input sentence. As an output message, the message only
transmits the configuration from one specific comm. port.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x00
N*20
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (number of comm. ports).
0+N*20
1+N*20
2+N*20
4+N*20
U1
U1
U2
U4
Port number
Reserved
Reserved
USART mode
Bit mask
Bit[7:6]: character length
00 – 5 bits ; 01 – 6 bits
10 – 7 bits ; 11 – 8 bits
Bit[11:9]: parity
000 – even ; 001 – odd
10X – no ; X1X – reserved
Bit[13:12]
00 – 1 stop bit ; 01 – 1.5 stop bit
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10 – 2 stop bit ; 11 – reserved
Bit[16]
0 – LSB first bit order
1 – MSB first bit order
Bit[19]
0 – 16x oversampling
1 – 8x oversampling
8+N*20
U4
U2
Baud rate (bps)
12+N*20
Input protocol for a single port. Bit mask
Multi-protocols can be selected 0x0001 – UBX protocol
for a single port.
0x0002 – NMEA protocol
0x0004 – RTCM protocol
0x1000 – User0-defined protocol
0x2000 – User1-defined protocol
0x4000 – User2-defined protocol
0x8000 – User3-defined protocol
The rest of bits are reserved.
14+N*20
U2
Output protocol for a single port. Bit mask.
Multi-protocols can be selected 0x0001 – UBX protocol
for a single port.
0x0002 – NMEA protocol
0x0008 – RAW protocol
0x1000 – User0-defined protocol
0x2000 – User1-defined protocol
0x4000 – User2-defined protocol
0x8000 – User3-defined protocol
The rest of bits are reserved.
Bit mask.
16+N*20
18+N*20
U2
U2
Flags
Bit 0 – if set, the Autobauding is
enabled;
Bits 1 ~ 15 are reserved.
Reserved
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CFG – MSG (0x06 0x01)
It’s a poll request. Poll a message configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x01
2
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
1
U1
U1
Class ID
Message ID
CFG – MSG (0x06 0x01)
It’s an I/O message. As an input message, the message rate configurations for several
targets can be put together into one input sentence. As an output message, the message
only transmits one message rate configuration from one target.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x01
N*6
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (number of targets) if needed.
0+N*6
1+N*6
2+N*6
3+N*6
4+N*6
5+N*6
U1
U1
U1
U1
U1
U1
Class ID
Message ID
Message rate on I/O Target 0
Message rate on I/O Target 1
Message rate on I/O Target 2
Message rate on I/O Target 3
CFG – MSG (0x06 0x01)
It’s an input message. Set message rate configuration for the current target.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x01
3
See below
CK_A CK_B
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Data
Offset bytes
Format
U1
Descriptions
Notes
0
1
2
Class ID
U1
Message ID
U1
Message rate on the current
target
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CFG – NMEA (0x06 0x17)
It’s a poll request. Poll the NMEA protocol configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x17
0
None
CK_A CK_B
CFG – NMEA (0x06 0x17)
It’s an input message. Set the desired NMEA protocol.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x17
4
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U1
Filtering. Disable or not.
Bit 0 – position filtering
Bit 1 – masked position filtering
Bit 2 – time filtering
Bit 3 – date filtering
1
2
U1
NMEA version
Reserved
0x23 – version 2.3
Only version 2.3 is supported.
U1(2)
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CFG – RATE (0x06 0x08)
It’s a poll request. Poll the current navigation/measurement rate setting. The module
will respond the same message defined below (I/O message).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x08
0
None
CK_A CK_B
CFG – RATE (0x06 0x08)
It’s an I/O message. It polls or sets the navigation/measurement rate.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x08
6
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
2
4
U2
U2
U2
Measurement rate (ms).
Navigation rate (cycles)
Alignment to reference time
Number of measurement cycles
0 – UTC time
!0 – GPS time
NOTE:
Navigation Update Rate (1/s) = 1000 / (NavigationRate * MeausrementRate(ms)).
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CFG – CFG (0x06 0x09)
It’s a command message. The message will clear, save, and load configurations. The
command consists of the three masks (clear, save, and load) in each individual bit.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x09
12
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U4
U4
U4
Clear configurations
Load factory defaults to active
settings. See below for bit
definitions.
4
8
Save configurations
Load configurations
Save the active settings to
non-volatile memory. See below
for bit definitions.
Load
configurations
from
non-volatile memory to active
settings. See below for bit
definitions.
Bit Definitions
Bits
Descriptions
0
I/O port assignments, protocols, and baud rates
(referred to UBX-CFG-PRT).
1
2
3
Message
configuration
(referred
to
UBX-CFG-MSG and UBX-CFG-NMEA).
INF message configuration (referred to
UBX-CFG-INF).
Navigation
configuration
(referred
UBX-CFG-NAV,
UBX-CFG-TM, and
to
UBX-CFG-DAT,
UBX-CFG-RATE,
UBX-CFG-TP).
4
5
Receiver manager (RXM) configuration (referred
to UBX-CFG-RXM and UBX-CFG-SBAS).
Power saving mode configuration (referred to
UBX-CFG-FXN).
6 ~ 9
10
EKF receiver (dead reckoning).
Model-specific settings for receiver (e.g.
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UBX-CFG-ANT)
Reserved
11
12 ~ 15
16 ~ 31
Reserved for user applications
Reserved
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CFG – TP (0x06 0x07)
It’s a poll request. Poll time pulse information. The module will respond the same
message defined below (I/O message).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x07
0
None
CK_A CK_B
CFG – TP (0x06 0x07)
It’s an I/O message. Poll and set time pulse information.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x07
20
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
Time interval for time pulse
(us).
4
8
U4
I1
Length of time pulse (us).
Status of time pulse
> 0 - positive
0 – off
< 0 – negative
0 – UTC time
!0 – GPS time
9
U1
Reference time
10
12
14
16
U2
I2
Reserved
Delay due to antenna cable (ns)
RF group delay (ns)
I2
I4
User time function delay (ns)
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CFG – NAV (0x06 0x03)
It’s a poll request. Poll engine settings for navigation. The module will respond the
same message defined below (I/O message).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x03
0
None
CK_A CK_B
CFG – NAV (0x06 0x03)
It’s an I/O message. Poll and set engine settings for navigation.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x03
28
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
Kinematic model
1 – stationary
2 – pedestrian
3 – automotive
4 – sea
5 – airborne with acceleration <
1g
6 – airborne with acceleration <
2g
7 – airborne with acceleration <
4g
8 ~ 255 – reserved
1
2
3
U1
U1
U1
Minimum number of SVs for 1 ~ 16
navigation
Maximum number of SVs for 1 ~ 16
navigation
C/N0: conditional lower limit
This condition will be applied if
and only if enough satellites (say
5) are being tracked and above
this limit.
4
5
U1
U1
C/N0: absolute lower limit
A satellite with C/N0 below this
limit is not used in the navigation
solution.
Minimum elevation for SVs
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used in the navigation solution
DGPS timetag rounding
6
7
U1
U1
U1
U1
U2
1 – enable
0 – disable
Timeout
correction data (s)
Timeout for
correction data (s)
for
differential
8
pseudorange
9
Timeout for carrier phase
correction data (s)
10
Carrier Lock Time (CLT):
conditional lower limit (ms)
CLT: absolute lower limit (ms)
Epochs for DR
12
14
15
U2
U1
U1
Navigation options
Bit mask
0x01
–
enable pseudorange
check
0x02 – enable Doppler check
0x04 – enable Delta range check
0x08
consistency check
0x10 enable
navigation
–
enable ALM-EPH
–
almanac
0x20 – reserved
0x40 – reserved
0x80 – reserved
Scaling : 0.1
16
18
20
22
24
26
27
U2
U2
U2
U2
U2
U1
U1
PDOP mask
TDOP mask
Scaling : 0.1
Position accuracy mask (m)
Time accuracy mask (m)
Frequency accuracy mask (m/s) Scaling : 0.1
Static threshold (cm/s)
Reserved
0 – disable
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CFG – DAT (0x06 0x06)
It’s a poll request. Poll datum setting. The module will respond the same message
defined below (I/O message).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x06
0
None
CK_A CK_B
CFG – DAT (0x06 0x06)
It’s an input message. Set the standard datum.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x06
2
See below
CK_A CK_B
Data
Offset bytes
Format
U2
Descriptions
Notes
Referred to Appendix A
0
Datum number
CFG – DAT (0x06 0x06)
It’s an input message. Set user-defined datum.
Header
ID
Data Length
Data
Checksum
CK_A CK_B
0xB5 0x62
0x06 0x06
44
See below
Data
Descriptions
Offset bytes
Format
Notes
0
8
R8
R8
R4
Semi-major axis (m)
1.0/flattening
6,300,000.0 ~ 6,500,000.0
0.0 ~ 500.0
16
Offset from the origin – X axis -5000.0 ~ 5000.0
(m)
20
24
28
32
36
R4
R4
R4
R4
R4
Offset from the origin – Y axis -5000.0 ~ 5000.0
(m)
Offset from the origin – Z axis -5000.0 ~ 5000.0
(m)
Rotation about X axis (milli-arc -20.0 ~ 20.0
seconds)
Rotation about Y axis (milli-arc -20.0 ~ 20.0
seconds)
Rotation about Z axis(milli-arc -20.0 ~ 20.0
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seconds)
40
R4
Scale change (ppm)
0.0 ~ 50.0
CFG – DAT (0x06 0x06)
It’s an output message. Poll the current datum. If the datum number is –1, the module
is using the user-defined datum and only the value for semi-major axis is valid and the
rest of them are not valid.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x06
52
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
2
U2
CH[6]
R8
Datum number
Datum name
ASCII format
8
Semi-major axis (m)
1.0/flattening
6,300,000.0 ~ 6,500,000.0
0.0 ~ 500.0
16
24
R8
R4
Offset from the origin – X axis -5000.0 ~ 5000.0
(m)
28
32
36
40
44
48
R4
R4
R4
R4
R4
R4
Offset from the origin – Y axis -5000.0 ~ 5000.0
(m)
Offset from the origin – Z axis -5000.0 ~ 5000.0
(m)
Rotation about X axis (milli-arc -20.0 ~ 20.0
seconds)
Rotation about Y axis (milli-arc -20.0 ~ 20.0
seconds)
Rotation about Z axis(milli-arc -20.0 ~ 20.0
seconds)
Scale change (ppm)
0.0 ~ 50.0
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CFG – INF (0x06 0x02)
It’s a poll request. It’s used to identify the output protocol.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x02
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
Protocol ID
0 – UBX protocol
1 – NMEA protocol
2 – RTCM protocol (used for
input only)
3 – RAW protocol
4 ~ 11 – reserved
12 – User0-defined protocol
13 – User1-defined protocol
14 – User2-defined protocol
15 – User3-defined protocol
16 ~ 255 – reserved
CFG – INF (0x06 0x02)
It’s an I/O message. It’s used to set/get message configuration. As an input message,
several message configurations can be put into as one input sentence. But as an output
message, the sentence only transmits one message configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x02
N*8
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (number of comm. ports).
0+N*8 U1 Protocol ID 0 – UBX protocol
1 – NMEA protocol
2 – RTCM protocol (used for
input only)
3 – RAW protocol
4 ~ 11 – reserved
12 – User0-defined protocol
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13 – User1-defined protocol
14 – User2-defined protocol
15 – User3-defined protocol
16 ~ 255 – reserved
1+N*8
2+N*8
4+N*8
U1
U2
U1
Reserved
Reserved
Information message enabled Bit mask.
(INF class) at I/O target 0 Referred to INF class, such as
(USART 0)
INF-ERROR
and
INF-WARNING
5+N*8
6+N*8
7+N*8
U1
U1
U1
Information message enabled Same as above
(INF class) at I/O target 1
(USART 1)
Information message enabled Same as above
(INF class) at I/O target 2
(USART 2)
Information message enabled Same as above
(INF class) at I/O target 3
(reserved)
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CFG – RST (0x06 0x04)
It’s an input message. It’s used to reset receiver or clear backup data structure.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x04
4
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U2
Clear backup data in BBR
0x0001 – ephemeris
0x0002 – almanac
0x0004 – health
0x0008 – Klobuchar
0x0010 – position
0x0020 – clock drift
0x0040 – oscillation parameter
0x0080
–
UTC correction
parameters
0x0100 – RTC
0x0000 – hot-start
0x0001 – warm-start
0xFFFF – cold-start
2
U1
Reset
0x00
–
hardware
reset
(watchdog)
0x01 – controlled software reset
0x02 – controlled software reset
(GPS only)
0x08 – controlled GPS stop
0x09 – controlled GPS start
3
U1
Reserved
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CFG – RXM (0x06 0x11)
It’s a poll request. It’s used to poll RXM configuration. The module responds the
same message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x11
0
None
CK_A CK_B
CFG – RXM (0x06 0x11)
It’s an I/O message. It’s used to set/get RXM configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x11
2
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U1
GPS sensitivity mode
0 – Normal
1 – Fast acquisition
2 – High sensitivity
> 2 – Reserved
1
U1
Power mode
0 – Continuous tracking mode
1 – FixNow mode (power saving
mode)
> 1 – Reserved
94
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CFG – ANT (0x06 0x13)
It’s a poll request. It’s used to poll antenna control settings. The module responds the
same message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x13
0
None
CK_A CK_B
CFG – ANT (0x06 0x13)
It’s an I/O message. It’s used to set/get antenna control settings.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x13
4
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
2
U2
U2
Antenna flag mask
Antenna pin configuration
Bit 0 – enable
0 – Continuous tracking mode
1 – FixNow mode (power saving
mode)
> 1 – Reserved
95
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CFG – FXN (0x06 0x0E)
It’s a poll request. It’s used to poll power saving (FixNow) mode configuration. The
module responds the same message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x0E
0
None
CK_A CK_B
CFG – FXN (0x06 0x0E)
It’s a command message. It’s used to configure the FixNow mode. It is enabled by the
CFG-RXM message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x0E
36
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
FixNow mode configuration
Bit mask
0x02 – set: Sleep state
0x04 – reserved (never set this
bit)
0x08
–
absolute alignment
(on/off time)
0x10 – use on/off time
the rest of bits – not set
4
U4
U4
U4
U4
U4
U4
Last fix timeout (ms)
Sleep time (ms)
8
After a last fix timeout
12
16
20
24
Last reset timeout (ms)
Sleep time (ms)
After a last reset timeout
Start with first fix
On time (ms)
Sleep time (ms)
After a normal on time (may
vary because of data download)
28
32
U4
U4
Reserved
Base TOW (ms)
TO which “On time” and
corresponding “Sleep time” are
aligned if ABSOLUTE_ALIGN
is set.
96
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CFG – SBAS (0x06 0x16)
It’s a command message. It’s used to configure SBAS systems, such as WAAS,
EGNOS, and MSAS. More information about SBAS services is referred to document
RTCA/DO-229C (www.rtca.org).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x16
8
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
SBAS mode.
Bit mask
Bit 0 – 1: SBAS enabled; 0:
SBAS disabled
Bit 1 – SBAS testbed; 1: use data
anyhow; 0: ignore data when in
test mode (SBAS Msg 0)
Bits 2-7 – reserved
1
2
U1
U1
SBAS usage
Bit mask
Bit 0 – use ranges for navigation
solution
Bit 1 – use differential correction
Bit 2 – use integrity information
Maximum number of channels 0 ~ 3
for searching SBAS satellites
Reserved
3
4
U1
U4
SBAS
PRN
numbers
in All bits are set to 0 – auto-scan
(searching all available PRNs)
Bit 0 – PRN 120
searching channels
Bit 1 – PRN 121
….
Bit 18 – PRN 138
Bits 19-31 – reserved (set to 0)
97
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CFG – TM (0x06 0x10)
It’s a poll request. It’s used to poll time mark configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x10
0
None
CK_A CK_B
CFG – TM (0x06 0x10)
It’s an I/O message. It’s used to set/get time mark configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x10
12
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U4
Time mark input source
EXTINT 0 (31)
EXTINT 1 (30)
EXTINT 2 (29)
4
8
U4
U4
Rate of time mark task (ms)
Flags for time mark task
Bit mask
Bit 0 – 0: time mark disabled; 1:
time mark enabled
Bit 1 – 0: time mark on rising
edge; 1: time mark on falling
edge
Bit 2 – 0: based on GPS time; 1:
based on UTC time
98
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CFG – EKF (0x06 0x12)
It’s a poll request. It’s used to poll EKF configuration. The module responds the same
message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x12
0
None
CK_A CK_B
CFG – EKF (0x06 0x12)
It’s an I/O message. It’s used to set/get EKF configuration.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x06 0x12
16
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
EKF status
1 – disabled
0 – enabled
1
U1
Flags
Bit 0 – reserved (always 0)
Bit clear temperature
1
–
compensation table
Bit 2 – clear stored calibration
Bit 3 – reserved (always 0)
Bit 4 – set nominal tacho pulses
as defined in Field “Nominal
pulses per kilometer”
Bit 5 – set nominal gyro values
as defined in Fields “Nominal
gyro zero point output” and
“Nominal gyro sensitivity”
Bit 6 – set temperature table
configuration as defined in Fields
“Maximum allowable RMS
threshold” and
“
The time
interval for saving temperature
table to flash”
Bit 7 – set direction pin and gyro
sense meaning as defined in
Field “Inverse_flags”
99
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2
3
U1
U1
Reserved
Inverse_flags
Bit
0
–
invert meaning of
direction pin; 0: High=Forwards;
1: High=Backwards
Bit 1 – invert meaning of gyro
rotation sense; 0: clockwise
positive; 1: counterclockwise
positive
4
8
U4
U2
U2
Reserved
Always 0
Nominal pulses per kilometer
1100 ~ 45000
10
Nominal gyro zero point output 2000 ~ 3000
(mV)
12
13
U1
U1
Nominal
gyro
sensitivity 20 ~ 40
(mV/(deg/s))
Maximum
allowable
RMS For zero velocity temperature
compensation: 1 ~ 10
threshold (mV)
Scaling: 0.1
14
U2
The time interval for saving Minimum: 9
temperature table to flash (s)
100
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UBX Class INF
Basically, the INF class is an output class. It outputs strings with a printf-style call.
INF – ERROR (0x04 0x00)
It outputs an ASCII string to indicate error message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x00
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
101
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INF – WARNING (0x04 0x01)
It outputs an ASCII string to indicate warning message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x01
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
102
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INF – NOTICE (0x04 0x02)
It outputs an ASCII string to transmit informational contents.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x02
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
103
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INF – TEST (0x04 0x03)
It outputs an ASCII string to indicate test message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x03
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
104
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INF – DEBUG (0x04 0x04)
It outputs an ASCII string to indicate debug message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x04
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
105
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INF – USER (0x04 0x07)
It outputs an ASCII string to indicate user output message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x04 0x07
N*1
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated N times (variable length).
0+N*1 U1 ASCII character
106
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UBX Class MON
This message is used to transmit GPS receiver status, such as CPU status, I/O status,
etc..
MON – SCHD (0x0A 0x01)
It periodically polls the status of system scheduler.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x01
24
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
U4
U4
U4
U2
Status: indicating which tasks Bit mask
have run
4
8
Status: indicating which tasks Bit mask
are scheduled to run
Status: indicating which tasks Bit mask
are overrun
12
16
Status: indicating which task IDs Bit mask
have a registered task function
Number of bytes used for
system stack (bytes)
18
20
U2
U2
Stack size in bytes
CPU idle time in the scale of
1/1000
22
23
U1
U1
Number of fully used slots in the
last 100
Number of partly used slots in
the last 100
107
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MON – IO (0x0A 0x02)
It periodically polls the I/O status.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x02
80
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
The following data will be repeated four times (N = 4).
0+N*20
4+N*20
8+N*20
10+N*20
12+N*20
14+N*20
U4
U4
U2
U2
U2
U2
Number of bytes which are
received (bytes)
Number of bytes which are sent
(bytes)
Number of 100 ms slots which
have overrun errors
Number of 100 ms slots which
have framing errors
Number of 100 ms slots which
have overrun errors
Number of 100 ms slots which
have break conditions
Flag
16+N*20
17+N*20
18+N*20
U1
U1
U2
Indicating that receiver is busy
Indicating that transmitter is busy
Flag
Reserved
108
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MON – MAGPP (0x0A 0x06)
It periodically polls message parse and process status.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x06
144
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U2[16]
U2[16]
U2[16]
U2[16]
U4[4]
Number of successful parsed
message for each protocol on
Target 0
32
64
Number of successful parsed
message for each protocol on
Target 1
Number of successful parsed
message for each protocol on
Target 2
96
Number of successful parsed
message for each protocol on
Target 3
128
Number of skipped bytes for
each target
109
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MON – RXBUF (0x0A 0x07)
It periodically polls the status of receiver buffer.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x07
16
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U2[4]
U1[4]
U1[4]
Number of pending bytes in
receiver buffer on each target
(bytes)
8
Maximum usage receiver buffer
for the last system-monitoring
period of each target
12
Maximum
current
usage
receiver buffer for each target
110
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MON – TXBUF (0x0A 0x08)
It periodically polls the status of transmitter buffer.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x08
20
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U2[4]
Number of pending bytes in
receiver buffer on each target
(bytes)
8
U1[4]
Maximum usage receiver buffer
for the last system-monitoring
period of each target
12
16
U1[4]
U1
Maximum
current
usage
receiver buffer for each target
Maximum usage receiver buffer
for the last system-monitoring
period of all targets
17
18
U1
U1
Maximum
current
usage
receiver buffer for all targets
Error flags
Bit mask
Bits 0 ~ 3 – buffer limit of
corresponding target
Bits 4 ~ 6 – reserved
Bit 7 – allocation error (Tx buffer
full)
19
U1
Reserved
111
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MON – VER (0x0A 0x04)
It is used to poll the hardware/software version.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0A 0x04
40+N*30
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
CH[30]
CH[10]
Software version
Hardware version
30
The following data will be repeated N times.
40+N*30 CH[30] Extension package version
112
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UBX Class NAV
The messages in this class transmit navigation data, status flags, and accuracy
information.
NAV – POSECEF (0x01 0x01)
It periodically polls the receiver’s position in the ECEF frame.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x01
20
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
X coordinate (cm)
Y coordinate (cm)
Z coordinate (cm)
Position accuracy (cm)
In the ECEF frame
In the ECEF frame
In the ECEF frame
8
I4
12
16
I4
U4
113
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NAV – POSLLH (0x01 0x02)
It periodically polls the receiver’s position in the local geodetic frame.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x02
28
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
Longitude (degrees)
In the local geodetic frame
Scaling: 1E-07
8
I4
Latitude (degrees)
In the local geodetic frame
Scaling: 1E-07
12
16
I4
I4
Height above ellipsoid (mm)
Height above mean see level
(mm)
In the local geodetic frame
20
24
U4
U4
Horizontal accuracy (mm)
Vertical accuracy (mm)
114
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NAV – POSUTM (0x01 0x08)
It periodically polls the receiver’s position in the UTM frame.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x08
18
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
I4
I4
I1
I1
GPS time of week (ms)
Easting component (cm)
Northing component (cm)
Altitude (cm)
In the UTM frame
In the UTM frame
In the UTM frame
8
12
16
17
UTM zone number
Hemisphere sector
0 – north
1 – south
NOTE: 1. Doesn’t output zone characters (i.e. northing element of a zone
description).
2. Doesn’t support the irregularities of UTM grids in the areas of North Pole and
Scandinavian.
115
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NAV – DOP (0x01 0x04)
It periodically polls the values of DOPs.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x04
18
See below
CK_A CK_B
Data
Descriptions
GPS time of week (ms)
GDOP
Offset bytes
Format
Notes
0
4
U4
U2
U2
U2
U2
U2
U2
U2
Geometric DOP
Positional DOP
Time DOP
6
PDOP
8
TDOP
10
12
14
16
VDOP
Vertical DOP
Horizontal DOP
Northing DOP
Easting DOP
HDOP
NDOP
EDOP
NOTE: All have Scaling 0.01.
116
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NAV – STATUS (0x01 0x03)
It periodically polls navigation status.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x03
16
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
U1
GPS time of week (ms)
Navigation modes
0x00 – no fix
0x01 – dead reckoning
0x02 – 2D fix
0x03 – 3D fix
0x04 – GPS + dead reckoning
0x05 ~ 0xFF – reserved
0x01 – GPS fix ok (under DOP
and accuracy masks)
5
U1
Flags
0x02 – DGPS used
0x04 – week number valid
0x08 – time of week valid
the rest of them – reserved
Bits[1:0] – DGPS input status
00 – none
6
U1
Differential status
01 – PR+PRR correction
10 – PR+PRR+CP correction
11 – high accuracy PR+PRR+CP
correction
the rest of bits – reserved
7
8
U1
U4
U4
Reserved
Time to first fix (TTFF)
Millisecond since startup/reset
Millisecond time tag
12
117
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NAV – SOL (0x01 0x06)
It periodically polls the information about navigation solution.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x06
52
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
Remainder of rounded GPS time -500000 ~ 500000
of week relative to GPS
millisecond time of week (ns)
GPS week
8
I2
10
U1
Navigation mode
0x00 – no fix
0x01 – dead reckoning
0x02 – 2D fix
0x03 – 3D fix
0x04 – GPS + dead reckoning
0x05 ~ 0xFF – reserved
0x01 – GPS fix ok (under DOP
and accuracy masks)
0x02 – DGPS used
11
U1
Flags
0x04 – week number valid
0x08 – time of week valid
the rest of them – reserved
In the ECEF frame
12
16
20
24
28
32
36
40
44
46
47
I4
I4
X coordinate (cm)
Y coordinate (cm)
Z coordinate (cm)
3D position accuracy (cm)
X velocity (cm/s)
Y velocity (cm/s)
Z velocity (cm/s)
Speed accuracy (cm/s)
PDOP
In the ECEF frame
I4
In the ECEF frame
U4
I4
In the ECEF frame
In the ECEF frame
In the ECEF frame
I4
I4
U4
U2
U1
U1
Scaling: 0.01
Reserved
Number of SVs used in the
navigation solution
Reserved
48
U4
118
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NAV – VELECEF (0x01 0x11)
It periodically polls velocity solution in the ECEF frame.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x11
20
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
X velocity (cm/s)
Y velocity (cm/s)
Z velocity (cm/s)
Speed accuracy (cm/s)
In the ECEF frame
In the ECEF frame
In the ECEF frame
8
I4
12
16
I4
U4
119
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NAV – VELNED (0x01 0x12)
It periodically polls velocity solution in the NED frame.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x12
36
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
North velocity (cm/s)
East velocity (cm/s)
Down velocity (cm/s)
Speed (cm/s)
In the NED frame
In the NED frame
In the NED frame
3D
8
I4
12
16
20
24
I4
U4
U4
I4
Ground speed (cm/s)
Heading (degrees)
2D
2D
Scaling: 1E-05
28
32
U4
U4
Speed accuracy (cm/s)
Course/Heading
(degrees(
accuracy Scaling: 1E-05
120
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NAV – TIMEGPS (0x01 0x20)
It periodically polls the information about GPS time.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x20
16
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
Remainder of rounded GPS time -500000 ~ 500000
of week relative to GPS
millisecond time of week (ns)
GPS week
8
I2
I1
10
11
Leap seconds (s)
Flags
GPS – UTC
U1
0x01 – valid time of week
0x02 – valid week number
0x04 – valid UTC
12
U4
Time accuracy (ns)
121
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NAV – TIMEUTC (0x01 0x21)
It periodically polls the information about UTC time.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x21
20
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
U4
U4
I4
GPS time of week (ms)
Time accuracy (ns)
4
8
Nanoseconds of second (UTC) -500000000 ~ 500000000
12
14
15
16
17
18
19
U2
U1
U1
U1
U1
U1
U1
Year (UTC)
Month (UTC)
Day (UTC)
Hour (UTC)
Minute (UTC)
Second (UTC)
Flags
1999 ~ 2099
0 ~ 23
0 ~ 59
0 ~ 59
0x01 – valid time of week
0x02 – valid week number
0x04 – valid UTC
122
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NAV – CLOCK (0x01 0x22)
It periodically polls receiver clock information.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x22
20
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
Clock bias (ns)
8
I4
Clock drift (ns/s)
12
16
U4
U4
Time accuracy (ns)
Frequency accuracy (ps/s)
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NAV – SVINFO (0x01 0x30)
It periodically polls the information about UTC time.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x30
8+N*12
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
5
6
U4
U1
U1
U2
GPS time of week (ms)
Number of channels
Reserved
1 ~ 16
0 ~ 15
Reserved
The following data will be repeated N times (number of channels).
8+N*12
9+N*12
10+N*12
U1
U1
U1
Channel number
PRN number (SV ID)
Flags for the above specified SV Bit mask
0x01 – used for navigation
0x02 – differential correction
data available
0x04 – ephemeris or almanac
available
0x08 – ephemeris available
0x10 – unhealth status (shall not
be used)
0x20,0x40,0x80 – reserved
11+N*12
I1
Signal quality indicator for the 0 – idle
above specified SV
1,2 – searching
3
– signal detected but unused
4 – code lock
5,6 – code and carrier locks
7 – code and carrier locks,
receiving navigation message
data (50 bps)
12+N*12
13+N*12
14+N*12
16+N*12
U1
I1
CN0 (dBHz)
Carrier to noise ratio
Integer value
Elevation (degrees)
Azimuth (degrees)
Pseudo range residual (cm)
I2
Integer value
I4
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NAV – DGPS (0x01 0x31)
It periodically polls DGPS correction data that are used in the navigation solution.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x31
16+N*12
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
I4
GPS time of week (ms)
Age of newest correction data
(ms)
8
I2
I2
DGPS reference station ID
Health status for DGPS station
Number of channels (correction
data is following)
10
12
U1
13
U1
DGPS data type
00 – none
01 – PR+PRR correction
10 – PR+PRR+CP correction
11 – high accuracy PR+PRR+CP
correction
14
U2
Reserved
The following data will be repeated N times (number of channels).
16+N*12
17+N*12
U1
U1
PRN number (SV ID)
Flags
Bit mask
0x01 ~ 0x08 – channel number
0x10 – DGPS used
0x20 ~ 0x80 – reserved
18+N*12
U2
Age of the latest correction data
(ms)
20+N*12
24+N*12
R4
R4
Pseudo range correction (m)
Pseudo range rate correction
(m/s)
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NAV – SBAS (0x01 0x32)
It periodically polls the status of SBAS.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x01 0x32
12+N*12
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
U1
GPS time of week (ms)
PRN number for SBAS, e.g.
WAAS, EGNOS.
5
6
U1
I1
SBAS mode
0 – disabled
1 – enabled integrity
2 – enabled test mode
-1 – unknown
0 – WAAS
SBAS type
1 – EGNOS
2 – MSAS
16 – GPS
7
U1
SBAS services
Bit 0 – ranging
Bit 1 – corrections
Bit 2 – integrity
Bit 3 – test mode
8
9
U1
Number of SV data following
Reserved
U1[3]
The following data will be repeated N times (number of SVs).
12+N*12
13+N*12
14+N*12
15+N*12
U1
U1
U1
U1
PRN number (SV ID)
Flags
Monitoring status
SBAS type
-1 – unknown
0 – WAAS
1 – EGNOS
2 – MSAS
16 – GPS
16+N*12
U1
SBAS services
Bit 0 – ranging
Bit 1 – corrections
Bit 2 – integrity
Bit 3 – test mode
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17+N*12
18+N*12
20+N*12
22+N*12
U1
I2
Reserved
Pseudo range correction (cm)
Reserved
I2
I2
Ionosphere correction (cm)
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UBX Class RXM
This class transmits the status of receiver manager and received raw data, e.g.
pseudorange and carrier phase measurements, ephemeris, and almanac data.
RXM – RAW (0x02 0x10)
It periodically outputs raw measurement data. It defines all the necessary data for a
RINEX file.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x10
8+N*24
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
6
7
I4
I2
GPS time of week (ms)
GPS week number
Number of satellites following
Reserved
Receiver time
Receiver time
U1
U1
The following data will be repeated N times (number of satellites).
8+N*24
R8
Carrier phase measurement L1 frequency
(cycles) CP
Pseudorange measurement (m) PR
16+N*24
24+N*24
28+N*24
29+N*24
R8
R4
U1
I1
Doppler measurement (Hz)
PRN number
DO
Measurement quality indicator >= 4 – PR+DO
>=5 – PR+DO+CP
<6 – likely loss of carrier lock in
the previous interval
Carrier to noise ratio
RINEX definition
30+N*24
31+N*24
I1
CN0 (dBHz)
U1
Indicator for loss of lock
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RXM – SFRB (0x02 0x11)
It periodically outputs the data in the subframe of navigation message.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x11
42
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U1
U1
I4
I4
I4
I4
I4
I4
I4
I4
I4
I4
Channel number
1
PRN number
WORD0
WORD1
WORD2
WORD3
WORD4
WORD5
WORD6
WORD7
WORD8
WORD9
2
6
10
14
18
22
26
30
34
38
NOTE: For GPS satellites, each word contains the parity checked subframe data in
24 bits (Bits 23 ~ 0) and the rest of 8 bits in each word are undefined. The higher
order bits receive data first. For more information about GPS navigation message,
please refer to the documentation ICD-GPS-200.
For SBAS satellites, the first 7 words (WORD0 ~ WORD6) contain 224 bits of data
for the 250 bit message block. The rest of 26-bit data are contained in Bits 25 ~ 0 of
WORD7, where Bit 25 is last bit of the data. For more information about SBAS,
please refer to RTCA/DO-229C (MOPS).
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RXM – SVSI (0x02 0x20)
It periodically polls the information of SV status.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x20
8+N*6
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
6
7
I4
I2
GPS time of week (ms)
GPS week number
U1
U1
Number of observable satellites
Number of satellite data
following
The following data will be repeated N times (number of satellites).
8+N*6
9+N*6
U1
U1
PRN number
Flags
0x01 – health SV
0x02 – ephemeris valid
0x04 – almanac valid
10+N*6
12+N*6
13+N*6
I2
I1
Azimuth (degrees)
Elevation (degrees)
U1
Age of almanac (ALM) and Bits 0 ~ 3 – age of ALM in days
ephemeris (EPH)
offset by 4,
Bits 4 ~ 7 – age of EPH in hours
offset by 4.
i.e. the reference time may be in
the future:
age_of_alm = (Age & 0x0f) – 4
age_of_eph = ((Age & 0xf0) >>
4) - 4
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RXM – ALM (0x02 0x30)
It’s an input request for polling almanac data. The receiver responds with all available
(32) RXM-ALM messages defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x30
0
None
CK_A CK_B
RXM – ALM (0x02 0x30)
It’s an input request for polling almanac data of one specific SV. The receiver
responds with a RXM-ALM message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x30
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
PRN number
1 ~ 32
RXM – ALM (0x02 0x30)
It’s an output message that carries almanac data of one specific SV.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x30
40
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
PRN number
1 ~ 32
1
GPS week number
WORD0
2
6
WORD1
10
14
18
22
26
30
WORD2
WORD3
WORD4
WORD5
WORD6
WORD7
NOTE: 1. If the value of week number is 0, the almanac data in WORDs (0 ~ 7) are
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not valid.
2. WORD0 ~ WORD7 contain the data following the Hand-Over Word (HOW) in the
navigation message. The data are from the sub-frame 4 of Pages 1 ~ 24 and the
sub-frame 5 of Pages 2 ~ 10. More information about almanac data structure is
referred to ICD-GPS-200.
3. WORD0 ~ WORD7 don’t include the data of the parity bits. Hence, Bits 0 ~ 23 is
used to locate the 24 bits of the data and Bits 24 ~ 31 are the sign-extension of the
data.
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RXM – EPH (0x02 0x31)
It’s an input request for polling ephemeris data. The receiver responds with all
available RXM-EPH messages defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x31
0
None
CK_A CK_B
RXM – EPH (0x02 0x31)
It’s an input request for polling ephemeris data of one specific SV. The receiver
responds with a RXM-EPH message defined below.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x31
1
See below
CK_A CK_B
Data
Offset bytes
Format
U1
Descriptions
Notes
0
PRN number
1 ~ 32
RXM – EPH (0x02 0x31)
It’s an output message that carries almanac data of one specific SV.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x31
8+n*96
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
PRN number
The following data are for this
specific satellite
4
U4
Hand-Over Word (HOW) of the 0 – invalid ephemeris data
first sub-frame
The following data will be repeated n times (n: number of valid ephemerides).
8+n*96
12+n*96
16+n*96
20+n*96
24+n*96
28+n*96
32+n*96
U4
U4
U4
U4
U4
U4
U4
Sub-frame 1 – WORD0
Sub-frame 1 – WORD1
Sub-frame 1 – WROD2
Sub-frame 1 – WORD3
Sub-frame 1 – WORD4
Sub-frame 1 – WORD5
Sub-frame 1 – WORD6
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36+n*96
40+n*96
44+n*96
48+n*96
52+n*96
56+n*96
60+n*96
64+n*96
68+n*96
72+n*96
76+n*96
80+n*96
84+n*96
88+n*96
92+n*96
96+n*96
100+n*96
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
U4
Sub-frame 1 – WORD7
Sub-frame 2 – WORD0
Sub-frame 2 – WORD1
Sub-frame 2 – WORD2
Sub-frame 2 – WORD3
Sub-frame 2 – WORD4
Sub-frame 2 – WORD5
Sub-frame 2 – WORD6
Sub-frame 2 – WORD7
Sub-frame 3 – WORD0
Sub-frame 3 – WORD1
Sub-frame 3 – WORD2
Sub-frame 3 – WORD3
Sub-frame 3 – WORD4
Sub-frame 3 – WORD5
Sub-frame 3 – WORD6
Sub-frame 3 – WORD7
NOTE: 1. Sub-frame 1 – WORD0 ~ Sub-frame 3 – WORD7 contain the data
following the Hand-Over Word (HOW) in the navigation message. The data are from
the sub-frame 1 to sub-frame 3. More information about ephemeris data structure is
referred to ICD-GPS-200.
2. Sub-frame 1 – WORD0 ~ sub-frame 3 – WORD7 don’t include the data of the parity
bits. Hence, Bits 0 ~ 23 is used to locate the 24 bits of the data and Bits 24 ~ 31 are
the sign-extension of the data.
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RXM – POSREQ (0x02 0x40)
It’s an input message for requesting a position fix in the FixNow mode (power saving
mode).
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x02 0x40
0
None
CK_A CK_B
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UBX Class TIM
This class transmits the information of time pulse and time mark.
TIM – TM (0x0D 0x02)
It periodically polls the time mark data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0D 0x02
28
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
U4
U4
Counter difference since last
polled time
4
8
Time difference since last polled
time (ms)
Sub-millisecond part of “time
difference” (ms/2^32)
Quantization (ms/2^32)
GPS time of week (ms)
Sub-millisecond part of “GPS
time of week” (ms/2^32)
GPS week number
12
16
20
U4
U4
U4
Time pulse
Time pulse
24
26
U2
U1
Flags
Bit 0 – 0: GPS time base; 1: UTC
time base
Bit 1 – 0: UTC not available; 1:
UTC available
Bit 2 – 0: time not available; 1:
time available
27
U1
Reserved
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TIM – TP (0x0D 0x01)
It periodically polls the time pulse data.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x0D 0x01
16
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
U4
I4
GPS time of week: time pulse
(ms)
4
8
Sub-millisecond part of “GPS
time of week” (ms/2^32)
Quantization error of time pulse
(ps)
12
14
U2
U1
GPS week number
Flags
Time pulse
Bit 0 – 0: GPS time base; 1: UTC
time base
Bit 1 – 0: UTC not available; 1:
UTC available
15
U1
Reserved
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UBX Class UPD
This class is used to update the firmware.
UPD – DOWNL (0x09 0x01)
It is an I/O message. It is used to download data to memory.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x09 0x01
8+N*1
See below
CK_A CK_B
Data
Descriptions
Offset bytes
Format
Notes
0
4
U4
U4
Download starting address
Flags
0 – download
1 – download ACK
2 – download NACK
The following data will be repeated N times (depending on the length of data).
8+N*1 U1 Data
NOTE: A block of data may be downloaded to memory by implementing several
UPD-DOWNL messages. The starting addresses are increased for the following
UPD-DOWNL messages based on the already transmitted bytes.
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UPD – UPLOAD (0x09 0x02)
It is an I/O message. It is used to upload data from memory.
Header
ID
Data Length
Data
Checksum
0xB5 0x62
0x09 0x02
12+N*1
See below
CK_A CK_B
Data
Descriptions
Upload starting address
Data size
Offset bytes
Format
Notes
0
4
8
U4
U4
U4
Flags
0 – upload
1 – upload ACK
2 – upload NACK
The following data will be repeated N times (depending on the length of data).
12+N*1 U1 Data
NOTE: A block of data may be uploaded from memory by implementing several
UPD-UPLOAD messages. The starting addresses are increased for the following
UPD-UPLOAD messages based on the already received bytes.
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Chapter 8 Troubleshooting
The following table lists questions/problems that you might encounter for operating
the module and possible suggested resolutions for the questions/problems. If you have
further questions/problems that cannot be resolved in this table, please feel free to
contact us.
Questions/Problems
Suggestions
1. Nothing is output from the module after 1. Check the port settings, such as baud
power on.
rate, comm. port number, etc. ;
2. Check the cable connection between
the module and running host platform
(whether the cable is firmly connected
or not).
2. The performance of the module is not as 1. The observability of the antenna is not
good as one expects.
good. Move the antenna to open space
or remove the blockages.
2. Check the antenna matching problem.
For the active antennas, the antenna
gain cannot exceed 25 dB.
3. The module doesn’t output the desired 1. Check the module whether the desired
messages.
messages are activated or not.
2. Check the port setting whether the
baud rate is sufficient or not.
4. Comm. port numbers are not shown in All the available comm. ports for a
the list.
computer are listed in the table. If you can
not select the desired one, make sure the
comm. port is not used by other
application.
5. The variation of position is 1. Check the observability of the antenna.
significant.
Make sure the antenna has an open
space view.
2. Check the constellation of the
observable GPS satellites (i.e. the
values of DOPs). Usually, the higher
the values of DOPs, the worse the
position accuracy.
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6. The estimated positions have steadily Make sure the estimated position and
expressed about a few meters or up to a reference position are expressed in the
few hundred meters off the reference same coordinate frame. The default datum
position.
of the module is WGS 84.
7. The estimated position has a few The module may execute almanac
kilometer away from the reference navigation.
position.
8. The module doesn’t perform well in A back-up battery is needed to support the
TTFFs of warm-start and hot-start.
running of RTC and Battery backed-up
RAM (BBR). The update position,
ephemeris, and almanac can be retrieved
from BBR or flash memory.
9. The module doesn’t perform the last Save the configuration settings to BBR,
configuration settings. which needs backed-up battery
supported, or flash memory.
a
Table 8.1 Troubleshooting.
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Appendix A Geodetic ID: Coordinate Datum
Rotation
and Scale
(See
Ellipsoid
Index
Name
Acronym DX (m) DY(m) DZ (m) Index (See
below)
below)
World Geodetic System -
84
0
1
2
3
WGS 84
WGS 72
ETH 90
0.0
0.0
0.0
0.0
0.0
0.0
0.0
4.5
4.0
0
23
8
0
1
0
0
World Geodetic System -
72
Earth-90 - GLONASS
Coordinate system
Adindan - Mean Solution
(Ethiopia & Sudan)
ADI-M -166.0 -15.0 204.0
7
4
Adindan - Burkina Faso
Adindan - Cameroon
Adindan - Ethiopia
Adindan - Mali
ADI-E
ADI-F
-118.0 -14.0 218.0
-134.0 -2.0 210.0
7
7
0
0
0
0
0
0
0
5
6
ADI-A -165.0 -11.0 206.0
ADI-C -123.0 -20.0 220.0
ADI-D -128.0 -18.0 224.0
ADI-B -161.0 -14.0 205.0
7
7
7
8
Adindan - Senegal
Adindan - Sudan
7
9
7
10
Afgooye - Somalia
AFG
-43.0 -163.0 45.0
21
ARC 1950 - Mean
(Botswana, Lesotho,
Malawi, Swaziland,
Zaire, Zambia,
11
ARF-M -143.0 -90.0 -294.0
7
0
Zimbabwe)
12
13
14
15
16
17
ARC 1950 - Botswana
ARC 1950 - Burundi
ARC 1950 - Lesotho
ARC 1950 - Malawi
ARC 1950 - Swaziland
ARC 1950 - Zaire
ARF-A -138.0 -105.0 -289.0
ARF-H -153.0 -5.0 -292.0
ARF-B -125.0 -108.0 -295.0
ARF-C -161.0 -73.0 -317.0
ARF-D -134.0 -105.0 -295.0
ARF-E -169.0 -19.0 -278.0
7
7
7
7
7
7
0
0
0
0
0
0
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18
19
ARC 1950 - Zambia
ARF-F -147.0 -74.0 -283.0
ARF-G -142.0 -96.0 -293.0
7
7
0
0
ARC 1950 - Zimbabwe
ARC 1960 - Mean
(Kenya, Tanzania)
20
21
ARS
PHA
-160.0 -6.0 -302.0
-79.0 -129.0 145.0
7
7
0
0
Ayabelle Lighthouse -
Djibouti
22
23
24
25
26
27
Bissau - Guinea-Bissau
Cape - South Africa
Carthage - Tunisia
Dabola - Guinea
Leigon - Ghana
BID
CAP
CGE
DAL
LEH
LIB
-173.0 253.0
27.0
20
7
0
0
0
0
0
0
-136.0 -108.0 -292.0
-263.0
-83.0
6.0
431.0
124.0
364.0
88.0
7
37.0
7
-130.0 29.0
-90.0 40.0
7
Liberia 1964
7
Massawa - Eritrea
(Ethiopia)
28
MAS
639.0 405.0
60.0
47.0
5
0
29
30
31
32
Merchich - Morocco
Minna - Cameroon
Minna - Nigeria
MER
MIN-A
MIN-B
MPO
31.0
146.0
7
7
7
7
0
0
0
0
-81.0 -84.0 115.0
-92.0 -93.0 122.0
-74.0 -130.0 42.0
M'Poraloko - Gabon
North Sahara 1959 -
Algeria
33
34
35
36
NSD
OEG
PTB
PTN
-186.0 -93.0 310.0
-130.0 110.0 -13.0
-106.0 -129.0 165.0
-148.0 51.0 -291.0
7
17
7
0
0
0
0
Old Egyptian 1907 -
Egypt
Point 58 - Mean Solution
(Burkina Faso & Niger)
Pointe Noire 1948 -
Congo
7
37
38
Schwarzeck - Namibia
Voirol 1960 - Algeria
SCK
VOR
616.0
97.0 -251.0
5
7
0
0
-123.0 -206.0 219.0
Ain El Abd 1970 -
Bahrain Island
39
40
AIN-A -150.0 -250.0 -1.0
20
20
0
0
Ain El Abd 1970 - Saudi
Arabia
AIN-B -143.0 -236.0
143
7.0
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Djakarta (Batavia)-
Sumatra (Indonesia)
41
42
BAT
-377.0 681.0 -50.0
-156.0 -271.0 -189.0
5
0
0
Hong Kong 1963 - Hong
Kong
HKD
20
43
44
45
46
Hu-Tzu-Shan - Taiwan
Indian - Bangladesh
HTN
IND-B
IND-I
INF-A
-637.0 -549.0 -203.0
282.0 726.0 254.0
295.0 736.0 257.0
217.0 823.0 299.0
20
9
0
0
0
0
Indian - India & Nepal
Indian 1954 - Thailand
11
9
Indian 1960 - Vietnam
(near 16N)
47
48
ING-A
ING-B
198.0 881.0 317.0
9
9
0
0
Indian 1960 - Con Son
Island (Vietnam)
182.0 915.0 344.0
209.0 818.0 290.0
49
50
51
Indian 1975 - Thailand
Indonesian 1974
INH-A
IDN
9
19
9
0
0
0
-24.0 -15.0
-97.0 787.0
5.0
Kandawala - Sri Lanka
KAN
86.0
Kertau 1948 - West
52
53
54
KEA
-11.0 851.0
5.0
13
7
0
0
0
Malaysia & Singapore
Nahrwan - Masirah
Island (Oman)
NAH-A -247.0 -148.0 369.0
Nahrwan - United Arab
Emirates
NAH-B -249.0 -156.0 381.0
NAH-C -243.0 -192.0 477.0
7
55
56
57
58
Nahrwan - Saudi Arabia
Oman
7
7
0
0
0
0
FAH
QAT
SOA
-346.0 -1.0
-128.0 -283.0 22.0
7.0 -10.0 -26.0
224.0
Qatar National - Qatar
South Asia - Singapore
20
15
Timbalai 1948 - Brunei &
East Malaysia (Sarawak
& Sabah)
59
TIL
-679.0 669.0 -48.0
10
0
Tokyo - Mean Solution
60
61
(Japan,Okinawa & South TOY-M -148.0 507.0 685.0
Korea)
5
5
0
0
Tokyo - Japan
TOY-A -148.0 507.0 685.0
144
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62
63
Tokyo - Okinawa
TOY-C -158.0 507.0 676.0
TOY-B -146.0 507.0 687.0
5
5
0
0
Tokyo - South Korea
Australian Geodetic 1966
- Australia & Tasmania
64
65
AUA
AUG
-133.0 -48.0 148.0
-134.0 -48.0 149.0
3
3
0
0
Australian Geodetic 1984
- Australia & Tasmania
European 1950 - Mean
(AU, B, DK, FN, F, G,
GR, I, LUX, NL, N, P, E,
S, CH)
66
67
EUR-M
-87.0 -98.0 -121.0
-87.0 -96.0 -120.0
20
20
0
0
European 1950 - Western
Europe (AU, DK, FR, G, EUR-A
NL, CH)
68
69
European 1950 - Cyprus
European 1950 - Egypt
European 1950 -
EUR-E -104.0 -101.0 -140.0
EUR-F -130.0 -117.0 -151.0
20
20
0
0
70
71
England, Wales, Scotland EUR-G
& Channel Islands
-86.0 - 96.0 -120.0
20
20
0
0
European 1950 -
England, Wales, Scotland EUR-K
& Ireland
-86.0 - 96.0 -120.0
-84.0 -95.0 -130.0
72
73
European 1950 - Greece
European 1950 - Iran
EUR-B
20
20
0
0
EUR-H -117.0 -132.0 -164.0
European 1950 - Italy -
Sardinia
74
EUR-I
EUR-J
-97.0 -103.0 -120.0
-97.0 -88.0 -135.0
20
0
European 1950 - Italy -
Sicily
75
76
77
20
20
20
0
0
0
European 1950 - Malta
EUR-L -107.0 -88.0 -149.0
European 1950 - Norway
& Finland
EUR-C
EUR-D
-87.0 -95.0 -120.0
-84.0 -107.0 -120.0
European 1950 - Portugal
& Spain
78
79
20
20
0
0
European 1950 - Tunisia
EUR-T -112.0 -77.0 -145.0
145
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European 1979 - Mean
Solution (AU, FN, NL,
N, E, S, CH)
80
EUS
-86.0 -98.0 -119.0
20
0
81
82
Hjorsey 1955 - Iceland
Ireland 1965
HJO
IRL
-73.0
46.0
-86.0
20
2
0
0
506.0 -122.0 611.0
Ordnance Survey of GB
83
84
85
1936 - Mean (E, IoM, S, OGB-M 375.0 -111.0 431.0
ShI, W)
1
1
1
0
0
0
Ordnance Survey of GB
OGB-A 371.0 -112.0 434.0
1936 - England
Ordnance Survey of GB
1936 - England, Isle of
Man & Wales
OGB-B 371.0 -111.0 434.0
Ordnance Survey of GB
1936 - Scotland &
Shetland Isles
86
OGB-C 384.0 -111.0 425.0
OGB-D 370.0 -108.0 434.0
1
0
Ordnance Survey of GB
1936 - Wales
87
88
89
90
1
20
21
5
0
0
0
0
Rome 1940 - Sardinia
Island
MOD
SPK
-225.0 -65.0
9.0
S-42 (Pulkovo 1942) -
Hungary
28.0 -121.0 -77.0
S-JTSK Czechoslavakia
(prior to 1 Jan 1993)
CCD
589.0
-2.0
76.0
480.0
Cape Canaveral - Mean
Solution (Florida &
Bahamas)
91
CAC
151.0 181.0
6
0
N. American 1927 -
92
93
NAS-C
NAS-B
-8.0
-8.0
-9.0
160.0 176.0
159.0 175.0
6
6
0
0
Mean Solution (CONUS)
N. American 1927 -
Western US
N. American 1927 -
Eastern US
94
95
NAS-A
NAS-D
161.0 179.0
135.0 172.0
6
6
0
0
N. American 1927 -
-5.0
146
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Alaska (excluding
Aleutian Islands)
N. American 1927 -
Aleutian Islands, East of
180W
96
97
NAS-V
-2.0
2.0
152.0 149.0
204.0 105.0
6
6
0
0
N. American 1927 -
Aleutian Islands, West of NAS-W
180W
N. American 1927 -
98
99
Bahamas (excluding San NAS-Q
Salvador Island)
-4.0
1.0
154.0 178.0
140.0 165.0
6
6
0
0
N. American 1927 - San
NAS-R
Salvador Island
N. American 1927 -
Canada Mean Solution
NAS-E
100
101
-10.0 158.0 187.0
6
6
0
0
(including
Newfoundland)
N. American 1927 -
Alberta & British
Columbia
NAS-F
NAS-G
-7.0
162.0 188.0
N. American 1927 -
Eastern Canada
102
(Newfoundland, New
Brunswick, Nova Scotia
& Quebec)
-22.0 160.0 190.0
6
0
N. American 1927 -
Manitoba & Ontario
103
104
105
NAS-H
NAS-I
NAS-J
-9.0
4.0
157.0 184.0
159.0 188.0
139.0 181.0
6
6
6
0
0
0
N. American 1927 -
Northwest Territories &
Saskatchewan
N. American 1927 -
Yukon
-7.0
N. American 1927 -
Canal Zone
106
107
NAS-O
NAS-P
0.0
125.0 201.0
142.0 183.0
6
6
0
0
N. American 1927 -
-3.0
147
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Caribbean
N. American 1927 -
Central America
108
109
NAS-N
0.0
125.0 194.0
152.0 178.0
6
6
0
0
N. American 1927 - Cuba NAS-T
N. American 1927 -
-9.0
110
111
112
Greenland (Hayes
Peninsula)
NAS-U
NAS-L
NAR-A
11.0
114.0 195.0
6
6
0
0
0
N. American 1927 -
Mexico
-12.0 130.0 190.0
N. American 1983 -
Alaska (excluding
Aleutian Islands)
0.0
0.0
0.0
16
N. American 1983 -
Aleutian Islands
113
114
115
116
NAR-E
NAR-B
NAR-C
NAR-H
-2.0
0.0
0.0
1.0
0.0
0.0
0.0
1.0
4.0
0.0
16
16
16
16
0
0
0
0
N. American 1983 -
Canada
N. American 1983 -
0.0
Mean Solution (CONUS)
N. American 1983 -
Hawaii
-1.0
N. American 1983 -
Mexico & Central
America
117
NAR-D
0.0
0.0
0.0
16
0
Bogota Observatory -
Colombia
118
119
BOO
CAI
307.0 304.0 -318.0
20
20
0
0
Campo Inchauspe 1969 -
Argentina
-148.0 136.0
90.0
120
121
Chua Astro - Paraguay
Corrego Alegre - Brazil
Prov S. American 1956 -
CHU
COA
-134.0 229.0 -29.0
-206.0 172.0 -6.0
20
20
0
0
122
123
Mean Solution (Bol, Col, PRP-M -288.0 175.0 -376.0
Ecu, Guy, Per & Ven)
20
20
0
0
Prov S. American 1956 -
PRP-A -270.0 188.0 -388.0
148
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Bolivia
Prov S. American 1956 -
Northern Chile (near
19S)
124
125
PRP-B -270.0 183.0 -390.0
20
20
0
0
Prov S. American 1956 -
Southern Chile (near
43S)
PRP-C -305.0 243.0 -442.0
PRP-D -282.0 169.0 -371.0
Prov S. American 1956 -
Colombia
126
127
128
129
20
20
20
20
0
0
0
0
Prov S. American 1956 -
Ecuador
PRP-E
PRP-F
-278.0 171.0 -367.0
-298.0 159.0 -369.0
Prov S. American 1956 -
Guyana
Prov S. American 1956 -
Peru
PRP-G -279.0 175.0 -379.0
PRP-H -295.0 173.0 -371.0
Prov S. American 1956 -
Venezuela
130
131
20
20
0
0
Prov South Chilean 1963
HIT
16.0
196.0
1.0
93.0
South American 1969 -
Mean Solution (Arg, Bol,
Bra, Chi, Col, Ecu, Guy,
Par, Per, Tri & Tob, Ven)
132
SAN-M
-57.0
-41.0
22
0
South American 1969 -
Argentina
133
134
135
136
137
138
SAN-A
SAN-B
SAN-C
SAN-D
SAN-E
SAN-F
-62.0
-61.0
-60.0
-75.0
-44.0
-48.0
-1.0
2.0
-37.0
-48.0
-41.0
-44.0
-36.0
-44.0
22
22
22
22
22
22
0
0
0
0
0
0
South American 1969 -
Bolivia
South American 1969 -
Brazil
-2.0
-1.0
6.0
South American 1969 -
Chile
South American 1969 -
Colombia
South American 1969 -
Ecuador (excluding
3.0
149
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Galapagos Islands)
South American 1969 -
139
140
141
142
143
SAN-J
SAN-G
SAN-H
SAN-I
-47.0
-53.0
-61.0
-58.0
-45.0
-45.0
26.0
3.0
-42.0
-47.0
-33.0
-44.0
-33.0
-33.0
22
22
22
22
22
0
0
0
0
0
Baltra, Galapagos Islands
South American 1969 -
Guyana
South American 1969 -
Paraguay
2.0
South American 1969 -
Peru
0.0
South American 1969 -
Trinidad & Tobago
SAN-K
12.0
8.0
South American 1969 -
Venezuela
144
145
SAN-L
ZAN
22
20
0
0
Zanderij - Suriname
-265.0 120.0 -358.0
Antigua Island Astro
1943 - Antigua, Leeward
Islands
146
AIA
-270.0 13.0
-205.0 107.0
62.0
53.0
7
0
147
148
Ascension Island 1958
ASC
SHB
20
20
0
0
Astro Dos 71/4 - St
Helena Island
-320.0 550.0 -494.0
-73.0 213.0 296.0
Bermuda 1957 -
Bermuda Islands
149
150
BER
DID
6
7
0
0
Deception Island,
Antarctica
260.0
-7.0
12.0 -147.0
215.0 225.0
Fort Thomas 1955 -
Nevis, St Kitts, Leeward
Islands
151
FOT
7
0
Graciosa Base SW 1948 -
Faial, Graciosa, Pico, Sao
Jorge, Terceira Islands
(Azores)
152
153
GRA
ISG
-104.0 167.0 -38.0
20
20
0
0
ISTS 061 Astro 1968 -
South Georgia Islands
-794.0 119.0 -298.0
150
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L.C. 5 Astro 1961 -
Cayman Brac Island
154
155
156
LCF
ASM
NAP
42.0
124.0 147.0
6
7
0
0
0
Montserrat Island Astro
1958 - Montserrat
Leeward Islands
174.0 359.0 365.0
-10.0 375.0 165.0
Naparima, BWI -
Trinidad & Tobago
20
Observatorio
Meteorologico 1939 -
Corvo and Flores Islands
(Azores)
157
FLO
-425.0 -169.0 81.0
20
0
Pico De Las Nieves -
Canary Islands
158
159
PLN
POS
-307.0 -92.0 127.0
-499.0 -249.0 314.0
20
20
0
0
Porto Santo 1936 - Porto
Santo and Madeira
Islands
Puerto Rico - Puerto Rico
& Virgin Islands
160
161
PUR
11.0
72.0 -101.0
6
0
0
Qornoq - South
Greenland
QUO
164.0 138.0 -189.0
20
Sao Braz - Soa Miguel,
Santa Maria Islands
(Azores)
162
SAO
-203.0 141.0
-355.0 21.0
53.0
72.0
20
0
Sapper Hill 1943 - East
Falkland Island
163
164
165
166
SAP
SGM
TDC
ANO
20
20
20
3
0
0
0
0
Selvagem Grande 1938 -
Salvage Islands
-289.0 -124.0 60.0
-632.0 438.0 -609.0
-491.0 -22.0 435.0
Tristan Astro 1968 -
Tristan du Cunha
Anna 1 Astro 1965 -
Cocos Islands
Gandajika Base 1970 -
Republic of Maldives
167
168
GAA
IST
-133.0 -321.0 50.0
208.0 -435.0 -229.0
20
20
0
0
ISTS 073 Astro 1969 -
151
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Diego Garcia
Kerguelen Island 1949 -
Kerguelen Island
169
170
171
KEG
MIK
RUE
145.0 -187.0 103.0
41.0 -220.0 -134.0
94.0 -948.0 -1262.0
20
7
0
0
0
Mahe 1971 - Mahe Island
Reunion - Mascarene
Islands
20
American Samoa 1962 -
American Samoa Islands
172
173
174
175
176
177
AMA
ATF
-115.0 118.0 426.0
6
0
0
0
0
0
0
Astro Beacon "E" 1945 -
Iwo Jima
145.0
75.0 -272.0
20
20
20
20
20
Astro Tern Island (Frig)
1961 - Tern Island
TRN
ASQ
IBE
114.0 -116.0 -333.0
124.0 -234.0 -25.0
-127.0 -769.0 472.0
298.0 -304.0 -375.0
Astronomical Station
1952 - Marcus Island
Bellevue (IGN) - Efate
and Erromango Islands
Canton Astro 1966 -
Phoenix Islands
CAO
Chatham Island Astro
1971 - Chatham Island
(New Zeland)
178
CHI
175.0 -38.0 113.0
20
0
DOS 1968 - Gizo Island
(New Georgia Islands)
179
180
181
182
183
184
GIZ
EAS
GEO
GUA
DOB
IDN
230.0 -199.0 -752.0
211.0 147.0 111.0
20
20
20
6
0
0
0
0
0
0
Easter Island 1967 -
Easter Island
Geodetic Datum 1949 -
New Zealand
84.0
-22.0 209.0
Guam 1963 - Guam
Island
-100.0 -248.0 259.0
252.0 -209.0 -751.0
GUX 1 Astro -
20
19
Guadalcanal Island
Indonesian 1974 -
Indonesia
-24.0 -15.0
5.0
152
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Johnston Island 1961 -
Johnston Island
185
186
JOH
KUS
189.0 -79.0 -202.0
647.0 1777.0 -1124.0
20
20
0
0
Kusaie Astro 1951 -
Caroline Islands, Fed.
States of Micronesia
Luzon - Philippines
(excluding Mindanao
Island)
187
LUZ-A -133.0 -77.0 -51.0
LUZ-B -133.0 -79.0 -72.0
6
0
Luzon - Mindanao Island
(Philippines)
188
189
190
6
20
6
0
0
0
Midway Astro 1961 -
Midway Islands
MID
912.0 -58.0 1227.0
61.0 -285.0 -181.0
Old Hawaiian - Mean
Solution
OHA-M
191
192
193
194
Old Hawaiian - Hawaii
Old Hawaiian - Kauai
Old Hawaiian - Maui
Old Hawaiian - Oahu
OHA-A
OHA-B
OHA-C
OHA-D
89.0 -279.0 -183.0
45.0 -290.0 -172.0
65.0 -290.0 -190.0
58.0 -283.0 -182.0
6
6
6
6
0
0
0
0
Pitcairn Astro 1967 -
Pitcairn Island
195
196
197
198
199
PIT
185.0 165.0
42.0
84.0
20
20
7
0
0
0
0
0
Santo (Dos) 1965 -
Espirito Santo Island
SAE
170.0
51.0
42.0
Viti Levu 1916 - Viti
MVS
ENW
WAK
391.0 -36.0
Levu Island (Fiji Islands)
Wake-Eniwetok 1960 -
Marshall Islands
102.0
52.0
-38.0
18
20
Wake Island Astro 1952 -
Wake Atoll
276.0 -57.0 149.0
-384.0 664.0 -48.0
-104.0 -129.0 239.0
Bukit Rimpah - Bangka
and Belitung Islands
(Indonesia)
200
201
BUR
CAZ
5
0
0
Camp Area Astro - Camp
McMurdo Area,
20
153
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Antarctica
European 1950 - Iraq,
Israel, Jordan, Kuwait,
Lebanon, Saudi Arabia &
Syria
202
EUR-S -103.0 -106.0 -141.0
20
0
Gunung Segara -
203
204
GSE"
HEN
-403.0 684.0
41.0
5
0
0
Kalimantan (Indonesia)
Herat North -
Afghanistan
-333.0 -222.0 114.0
20
205
206
Indian - Pakistan
IND-P
PUK
283.0 682.0 231.0
28.0 -130.0 -95.0
9
0
0
Pulkovo 1942 - Russia
21
Tananarive Observatory
1925 - Madagascar
207
208
209
TAN
YAC
-189.0 -242.0 -91.0
20
20
21
0
0
0
Yacare - Uruguay
-155.0 171.0
37.0
Krassovsky 1942 -
Russia
KRA42
26.0 -139.0 -80.0
Lommel Datum 1950 -
Belgium & Luxembourg
210
211
BLG50
-55.0
49.0 -158.0
20
20
0
0
Reseau National Belge
1972 - Belgium
RNB72 -104.0 80.0
-75.0
NTF - Nouvelle
Triangulation de la
France
212
213
214
215
NTF
NL21
ED87
-168.0 -60.0 320.0
7
5
0
0
2
0
Netherlands 1921 -
Netherlands
719.0
47.0
640.0
European Datum 1987,
IAG RETrig
-82.5 -91.7 -117.7
20
5
Subcommision.
Swiss Datum 1903+
(LV95)
CH95 674.374 15.056 405.346
154
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Ellipsoids
Index
Name
WGS 84
Semi Major Axis (m)
6378137.000
6377563.396
6377340.189
6378160.000
6377483.865
6377397.155
6378206.400
6378249.145
6378136.000
6377276.345
6377298.556
6377301.243
6377295.664
6377304.063
6377309.613
6378155.000
6378137.000
6378200.000
6378270.000
6378160.000
6378388.000
6378245.000
6378160.000
6378135.000
1/Flattening
298.257223563
299.3249646
299.3249646
298.25
0
1
Airy 1830
2
Modified Airy
3
Australian National
Bessel 1841 (Namibia)
Bessel 1841
4
299.1528128
299.1528128
294.9786982
293.465
5
6
Clarke 1866
7
Clarke 1880
8
Earth 90
298.257839303
300.8017
300.8017
300.8017
300.8017
300.8017
300.8017
298.3
9
Everest (India 1830)
Everest (Sabah Sarawak)
Everest (India 1956)
Everest (Malaysia 1969)
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Everest (Malay. & Singapore 1948)
Everest (Pakistan)
Modified Fischer 1960
GRS 80
298.257222101
298.3
Helmert 1906
Hough 1960
297.0
Indonesian 1974
International 1924
Krassovsky 1940
South American 1969
WGS 72
298.247
297.0
298.3
298.25
298.26
155
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Rotation and Scale Table
Rot. X
Rot. Y
Rot. Z
Scale
(-)
Index
Name
(seconds)
(seconds)
(seconds)
0
1
+0.0000
0.0000
+0.0000
0.0000
+0.0000
-0.5540
0.000
0.220
European Datum 1987 IAG RETrig
Subcommision.
2
0.1338
-0.0625
-0.0470
0.045
156
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Appendix B Acronyms
BBR
Battery Backed-up RAM
CLT
Carrier Lock Time
CN0
Carrier to Noise Ratio
COG
Course Over Ground
CTM
DGPS
DOP
Continuous Tracking Mode
Differential GPS
Dilution of Precision
DR
Dead Reckoning
ECEF
EDOP
EGNOS
EKF
Earth-Centered Earth-Fixed
Easting Dilution of Precision
the European Geostationary Navigation Overlay Service
Extended Kalman filter
GDOP
GNSS
HDOP
HOW
LNA
Geometric Dilution of Precision
Global Navigation Satellite System
Horizontal Dilution of Precision
Hand-Over Word
Low Noise Amplifier
MSAS
NDOP
NMEA
PDOP
PRN
MTSAT-Based Augmentation System
Northing Dilution of Precision
the National Marine Electronics Association
Positional Dilution of Precision
Pseudorandom Noise
PVT
Position Velocity Time
RINEX
RTC
Receiver Independent Exchange Format
Real Time Clock
RTCM
SBAS
SNR
the Radio Technical Commission for Maritime Services
Satellite Based Augmentation Systems
Signal-to-Noise Ratio
SOG
Speed Over Ground
SPS
Standard Positioning Service
Time Dilution of Precision
Time of Week
TDOP
TOW
TTFF
VDOP
UTM
WAAS
Time To First Fix
Vertical Dilution of Precision
Universal Transverse Mercator
Wide Area Augmentation System
157
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References
1. ANTARISR Chipset – System Integration- Manual for San Jose Navigation, Doc.
No. GPS.G3-DK-03014.
2. ANTARISR Protocol Specifications, Doc. No. GPS.G3-X-03002.
3. NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 2.30,
March 1, 1998.
158
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