u-blox8-M8协议手册_ubx协议

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u-blox 8 / u-blox M8

Receiver Description

Including Protocol Specification

Abstract

The Receiver Description Including Protocol Specification

describes the firmware features, specifications and configuration

for u-blox 8 / u-blox M8 high performance positioning modules.

The Receiver Description provides an overview and conceptual

details of the supported features.

The Protocol Specification describes the NMEA and RTCM

protocols as well as the UBX protocol (version 15.00 up to 19.

10, version 20.00 to 20.30, version 22.00 and version 23.00 to

23.01) and serves as a reference manual. It includes the

Standard Precision GNSS, Time Sync, Time & Frequency Sync,

High Precision GNSS, ADR and UDR products.

www.u-blox.com

UBX-13003221 - R14

u-blox 8 / u-blox M8 Receiver Description - Manual

Table of Contents

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 17 and below)........................................ 1

2.1.2 Decoding the boot screen (for Protocol Version 18 and above)........................................ 3

2.1.3 Decoding the output of UBX-MON-VER (for Protocol Version 17 and below)................. 4

2.1.4 Decoding the output of UBX-MON-VER (for Protocol Version 18 and above) ................. 6

2.2 How to determine the supported protocol version of the u-blox receiver.............................. 7

2.3 u-blox 8 / u-blox M8 Firmware and Supported Protocol Versions ............................................ 7

Receiver Description .................................................................................................................................... 9

3 Receiver Configuration....................................................................................................................... 9

3.1 Configuration Concept ................................................................................................................ 9

3.2 Organization of the Configuration Sections ............................................................................ 10

3.3 Permanent Configuration Storage Media ................................................................................ 10

3.4 u-blox Receiver Default Configuration..................................................................................... 11

3.5 Save-on-Shutdown Feature ....................................................................................................... 11

4 Concurrent GNSS............................................................................................................................... 12

4.1 GNSS Types ................................................................................................................................. 12

4.1.1 Major GNSS.......................................................................................................................... 12

4.1.2 Augmentation Systems....................................................................................................... 13

4.2 Configuration............................................................................................................................. 13

4.2.1 Switching between GNSS.................................................................................................... 14

4.2.2 Configuring QZSS L1SAIF.................................................................................................... 14

5 SBAS Configuration Settings Description ....................................................................................... 14

5.1 SBAS (Satellite Based Augmentation Systems)......................................................................... 14

5.2 SBAS Features............................................................................................................................. 16

5.3 SBAS Configuration.................................................................................................................... 17

6 IMES Description ............................................................................................................................... 18

6.1 IMES Features ............................................................................................................................. 18

7 Navigation Configuration Settings Description.............................................................................. 18

7.1 Platform settings........................................................................................................................ 18

7.2 Navigation Input Filters ............................................................................................................. 19

7.3 Navigation Output Filters.......................................................................................................... 20

7.3.1 Speed (3-D) Low-pass Filter ................................................................................................ 20

7.3.2 Course over Ground Low-pass Filter .................................................................................. 20

7.3.3 Low-speed Course Over Ground Filter............................................................................... 21

7.4 Static Hold .................................................................................................................................. 21

7.5 Freezing the Course Over Ground ............................................................................................ 21

UBX-13003221 - R14 Early Production Information Page iv

u-blox 8 / u-blox M8 Receiver Description - Manual

7.6 Degraded Navigation................................................................................................................. 21

7.6.1 2D Navigation...................................................................................................................... 21

7.7 Geodetic Coordinate Systems and Ellipsoids ............................................................................ 22

8 Clocks and Time................................................................................................................................. 22

8.1 Receiver Local Time.................................................................................................................... 22

8.2 Navigation Epochs...................................................................................................................... 23

8.3 iTOW Timestamps ...................................................................................................................... 24

8.4 GNSS Times ................................................................................................................................. 24

8.5 Time Validity............................................................................................................................... 24

8.6 UTC Representation ................................................................................................................... 25

8.7 Leap Seconds .............................................................................................................................. 25

8.8 Real Time Clock .......................................................................................................................... 25

8.9 Date............................................................................................................................................. 26

8.9.1 GPS-only Date Resolution................................................................................................... 26

9 Broadcast Navigation Data............................................................................................................... 26

9.1 Parsing Navigation Data Subframes ......................................................................................... 27

9.2 GPS .............................................................................................................................................. 27

9.3 GLONASS..................................................................................................................................... 27

9.4 BeiDou ........................................................................................................................................ 28

9.5 Galileo......................................................................................................................................... 28

9.6 SBAS ............................................................................................................................................ 29

9.7 QZSS ............................................................................................................................................ 30

9.8 IMES ............................................................................................................................................ 30

9.9 Summary..................................................................................................................................... 30

10 Serial Communication Ports Description....................................................................................... 31

10.1 TX-ready indication.................................................................................................................. 31

10.2 Extended TX timeout............................................................................................................... 32

10.3 UART Ports................................................................................................................................ 32

10.4 USB Port.................................................................................................................................... 33

10.5 DDC Port ................................................................................................................................... 33

10.5.1 Read Access........................................................................................................................ 33

10.5.2 Write Access....................................................................................................................... 35

10.6 SPI Port...................................................................................................................................... 36

10.6.1 Maximum SPI clock speed................................................................................................. 36

10.6.2 Read Access........................................................................................................................ 36

10.6.3 Back-To-Back Read and Write Access............................................................................... 36

10.7 How to change between protocols......................................................................................... 37

11 Multiple GNSS Assistance (MGA)................................................................................................... 37

11.1 Introduction.............................................................................................................................. 37

11.2 Assistance Data......................................................................................................................... 37

11.3 AssistNow Online ..................................................................................................................... 38

11.3.1 Host Software.................................................................................................................... 39

11.3.2 AssistNow Online Sequence ............................................................................................. 40

UBX-13003221 - R14 Early Production Information Page v