U-Blox ZED-F9P Interface Description.pdf

u-blox ZED-F9P

Interface Description

Abstract

The Interface Description describes the UBX (version 27.

10), NMEA and RTCM protocols and serves as a

reference manual for the u-blox ZED-F9P high precision

positioning receiver.

www.u-blox.com

Document number UBX-18010854

Revision and date R06

(037bf0c)

27 February 2019

Document status Early Production Information

Document status explanation

Objective Specification Document contains target values. Revised and supplementary data will be published later.

Advance Information Document contains data based on early testing. Revised and supplementary data will be published later.

Early Production Information Document contains data from product verification. Revised and supplementary data may be published later.

Production Information Document contains the final product specification.

Preface........................................................................................................................................................................ 1

1 Document Overview....................................................................................................................................... 1

2 Firmware and Protocol Versions ............................................................................................................... 1

2.1 How to Determine the Version and the Location of the Firmware........................................... 1

2.1.1 Decoding the Boot Screen (for Protocol Version 24 and Above)........................................ 1

4.1 Protocol Overview .............................................................................................................................. 5

4.1.1 Message Format......................................................................................................................... 5

4.1.2 Talker ID ....................................................................................................................................... 5

4.1.3 Protocol Configuration.............................................................................................................. 6

4.1.4 Satellite Numbering................................................................................................................... 7

4.1.5 Latitude and Longitude Format.............................................................................................. 8

4.1.6 Position Fix Flags ....................................................................................................................... 8

4.1.7 Multi-GNSS Considerations..................................................................................................... 9

4.1.8 Output of Invalid/Unknown Data........................................................................................... 10

4.1.9 Messages Overview ................................................................................................................. 10

4.2.6 GLL.............................................................................................................................................. 15

4.2.7 GLQ.............................................................................................................................................. 16

4.2.8 GNQ............................................................................................................................................. 16

4.2.9 GNS ............................................................................................................................................. 17

4.2.10 GPQ ........................................................................................................................................... 18

4.2.11 GRS ............................................................................................................................................ 19

4.2.12 GSA........................................................................................................................................... 20

4.2.13 GST............................................................................................................................................ 21

4.2.14 GSV........................................................................................................................................... 22

4.2.15 RMC.......................................................................................................................................... 23

5.2 UBX Frame Structure..................................................................................................................... 28

5.3 UBX Payload Definition Rules....................................................................................................... 28

5.3.1 Structure Packing.................................................................................................................... 29

5.3.2 Reserved Elements................................................................................................................. 29

5.3.3 Undefined Values.................................................................................................................... 29

5.3.4 Message Naming .................................................................................................................... 29

5.3.5 Number Formats..................................................................................................................... 29

5.4 UBX Checksum................................................................................................................................ 30

5.5 UBX Message Flow.......................................................................................................................... 31

5.5.1 Acknowledgement.................................................................................................................... 31

5.9 UBX-CFG (0x06) .............................................................................................................................. 37

5.9.1 UBX-CFG-ANT (0x06 0x13) .................................................................................................... 37

5.9.2 UBX-CFG-CFG (0x06 0x09)................................................................................................... 38

5.9.3 UBX-CFG-DAT (0x06 0x06) ................................................................................................... 41

5.9.4 UBX-CFG-DGNSS (0x06 0x70) ............................................................................................. 43

5.9.5 UBX-CFG-GEOFENCE (0x06 0x69)...................................................................................... 43

5.9.6 UBX-CFG-GNSS (0x06 0x3E)................................................................................................ 45

5.9.7 UBX-CFG-INF (0x06 0x02)..................................................................................................... 47

5.9.8 UBX-CFG-ITFM (0x06 0x39) ................................................................................................. 49

5.9.9 UBX-CFG-LOGFILTER (0x06 0x47) ..................................................................................... 50

5.9.16 UBX-CFG-PWR (0x06 0x57)................................................................................................. 73

5.9.17 UBX-CFG-RATE (0x06 0x08) ............................................................................................... 74

5.9.18 UBX-CFG-RINV (0x06 0x34) ................................................................................................ 75

5.9.19 UBX-CFG-RST (0x06 0x04).................................................................................................. 76

5.9.20 UBX-CFG-TMODE3 (0x06 0x71) ......................................................................................... 77

5.9.21 UBX-CFG-TP5 (0x06 0x31)................................................................................................... 79

5.9.22 UBX-CFG-USB (0x06 0x1B).................................................................................................. 81

5.10.1 UBX-INF-DEBUG (0x04 0x04)............................................................................................... 91

5.10.2 UBX-INF-ERROR (0x04 0x00).............................................................................................. 91

5.10.3 UBX-INF-NOTICE (0x04 0x02) ............................................................................................ 92

5.10.4 UBX-INF-TEST (0x04 0x03) ................................................................................................ 92

5.10.5 UBX-INF-WARNING (0x04 0x01) ........................................................................................ 93

5.11 UBX-LOG (0x21) .............................................................................................................................. 94

5.11.1 UBX-LOG-CREATE (0x21 0x07) ............................................................................................ 94

5.11.2 UBX-LOG-ERASE (0x21 0x03).............................................................................................. 95

5.11.3 UBX-LOG-FINDTIME (0x21 0x0E)........................................................................................ 95

5.11.4 UBX-LOG-INFO (0x21 0x08).................................................................................................. 97

5.12.1 UBX-MGA-ACK (0x13 0x60)................................................................................................ 103

5.12.2 UBX-MGA-BDS (0x13 0x03) ............................................................................................... 104

5.12.3 UBX-MGA-DBD (0x13 0x80)............................................................................................... 108

5.12.4 UBX-MGA-GAL (0x13 0x02) ............................................................................................... 109

5.12.5 UBX-MGA-GLO (0x13 0x06)................................................................................................ 113

5.12.6 UBX-MGA-GPS (0x13 0x00) ................................................................................................ 116

5.12.7 UBX-MGA-INI (0x13 0x40)................................................................................................... 120

5.12.8 UBX-MGA-QZSS (0x13 0x05) ............................................................................................ 126

5.13 UBX-MON (0x0A)......................................................................................................................... 130

5.13.1 UBX-MON-COMMS (0x0A 0x36)....................................................................................... 130

5.13.8 UBX-MON-PATCH (0x0A 0x27) ........................................................................................ 138

5.13.9 UBX-MON-RF (0x0A 0x38)................................................................................................. 139

5.13.10 UBX-MON-RXBUF (0x0A 0x07)........................................................................................ 141

5.13.11 UBX-MON-RXR (0x0A 0x21)............................................................................................... 141

5.13.12 UBX-MON-TXBUF (0x0A 0x08) ....................................................................................... 142

5.13.13 UBX-MON-VER (0x0A 0x04) ............................................................................................ 143

5.14 UBX-NAV (0x01) ........................................................................................................................... 144