The Receiver Description Including Protocol Specification

Abstract
The Receiver Description Including Protocol Specification
describes the firmware features, specifications and configuration
for u-blox 6 high performance positioning modules for
GPS/GLONASS/QZSS.
The Receiver Description provides an overview and conceptual
details of the supported features. The Protocol Specification
details version 14 of the NMEA and UBX protocols and serves as
a reference manual.
www.u-blox.com
u-blox 6 GPS/GLONASS/QZSS
Receiver Description
Including Protocol Specification V14

 Document Information
 Title
 u-blox 6 GPS/GLONASS/QZSS Receiver Description
 Subtitle
 Including Protocol Specification V14
 Document type
 Manual
 Document number
 GPS.G6-SW-12013
 60119,   5 Jul 2012
 Document status
 Protocol version 14.00 (Public Release)
This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They can
be downloaded from www.u-blox.com.  u-blox makes no warranties based on the accuracy or completeness of the contents of this
document and reserves the right to make changes to specifications and product descriptions at any time without notice. u-blox reserves all
rights to this document and the information contained herein.  Reproduction, use or disclosure to third parties without express permission
is strictly prohibited. Copyright © 2012, u-blox AG.
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Table of Contents
Receiver Description .................................................................................................................................... 1
1   Overview ............................................................................................................................................. 1
2   Navigation Configuration Settings Description................................................................................ 1
2.1   Platform settings .......................................................................................................................... 1
2.2   Navigation Input Filters ............................................................................................................... 2
2.3   Navigation Output Filters ............................................................................................................ 2
2.4   Static Hold .................................................................................................................................... 3
2.5   Freezing the Course Over Ground .............................................................................................. 3
2.6   Degraded Navigation................................................................................................................... 3
2.6.1   2D Navigation........................................................................................................................ 3
3   GNSS Configuration ............................................................................................................................ 3
3.1   GLONASS....................................................................................................................................... 4
3.2   QZSS .............................................................................................................................................. 4
4   Satellite Numbering ............................................................................................................................ 4
4.1   NMEA ............................................................................................................................................ 4
4.2   UBX ............................................................................................................................................... 5
4.3   Summary ....................................................................................................................................... 5
5   SBAS Configuration Settings Description ......................................................................................... 5
5.1   SBAS (Satellite Based Augmentation Systems) ........................................................................... 5
5.2   SBAS Features ............................................................................................................................... 7
5.3   SBAS Configuration...................................................................................................................... 8
6   Clocks and Time................................................................................................................................... 8
6.1   Receiver Local Time...................................................................................................................... 8
6.2   Navigation Epochs........................................................................................................................ 9
6.3   iTOW Timestamps ...................................................................................................................... 10
6.4   UTC Representation ................................................................................................................... 10
6.5   Leap Seconds .............................................................................................................................. 10
6.6   Real Time Clock .......................................................................................................................... 11
7   Serial Communication Ports Description ......................................................................................... 11
7.1   TX-ready indication.................................................................................................................... 11
7.2   Extended TX timeout ................................................................................................................. 12
7.3   UART Ports.................................................................................................................................. 12
7.4   USB Port ...................................................................................................................................... 12
7.5   DDC Port ..................................................................................................................................... 13
7.5.1   Read Access.......................................................................................................................... 13
7.5.1.1   Random Read Access ................................................................................................... 14
7.5.1.2   Current Address Read .................................................................................................. 15
7.5.2   Write Access......................................................................................................................... 15
7.6   SPI Port........................................................................................................................................ 16
7.6.1   Maximum SPI clock speed................................................................................................... 16
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7.6.2   Read Access.......................................................................................................................... 16
7.6.3   Back-To-Back Read and Write Access................................................................................. 17
7.7   How to change between protocols........................................................................................... 17
8   Receiver Configuration ..................................................................................................................... 17
8.1   Configuration Concept .............................................................................................................. 17
8.2   Organization of the Configuration Sections ............................................................................ 18
8.3   Permanent Configuration Storage Media ................................................................................ 19
8.4   Receiver Default Configuration ................................................................................................ 19
9   Forcing a Receiver Reset ................................................................................................................... 19
10   Remote Inventory ........................................................................................................................... 20
10.1   Description................................................................................................................................ 20
10.2   Usage ........................................................................................................................................ 20
11   Power Management ....................................................................................................................... 20
11.1   Continuous Mode..................................................................................................................... 20
11.2   Power Save Mode..................................................................................................................... 21
11.2.1   Operation .......................................................................................................................... 21
11.2.1.1   ON/OFF operation - long update period .................................................................. 22
11.2.1.2   Cyclic tracking operation - short update period ...................................................... 23
11.2.1.3   User controlled operation - update and search period of zero .............................. 23
11.2.1.4   Satellite data download ............................................................................................ 23
11.2.2   Configuration .................................................................................................................... 24
11.2.2.1   Mode of operation .................................................................................................... 24
11.2.2.2   Update and search period ......................................................................................... 24
11.2.2.3   Acquisition timeout ................................................................................................... 25
11.2.2.4   On time and wait for timefix .................................................................................... 25
11.2.2.5   Do not enter 'inactive for search' state when no fix ............................................... 25
11.2.2.6   Update RTC and Ephemeris ....................................................................................... 25
11.2.2.7   EXTINT pin control ..................................................................................................... 25
11.2.2.8   Grid offset .................................................................................................................. 25
11.2.3   Features ............................................................................................................................. 26
11.2.3.1   Communication .......................................................................................................... 26
11.2.3.2   Wake-up ..................................................................................................................... 26
11.2.3.3   Behavior while USB host connected ......................................................................... 26
11.2.3.4   Cooperation with the AssistNow Autonomous feature .......................................... 26
11.2.4   Examples ............................................................................................................................ 27
11.2.4.1   Use Grid Offset ........................................................................................................... 27
11.2.4.2   Use update periods of zero ....................................................................................... 27
11.3   Peak current settings ............................................................................................................... 27
11.4   Power On/Off command.......................................................................................................... 27
11.5   EXTINT pin control when Power Save Mode is not active ..................................................... 27
12   Time pulse ....................................................................................................................................... 27
12.1   Introduction.............................................................................................................................. 27
12.2   Recommendations.................................................................................................................... 28
12.3   Time pulse configuration......................................................................................................... 29
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12.4   Configuring time pulse with UBX-CFG-TP5 ............................................................................ 29
12.4.1   Example 1: ......................................................................................................................... 30
12.4.2   Example 2: ......................................................................................................................... 31
13   Receiver Status Monitoring............................................................................................................ 32
13.1   Input/Output system ................................................................................................................ 32
13.2   Jamming/Interference Indicator.............................................................................................. 33
13.3   Jamming/Interference Monitor (ITFM) ................................................................................... 33
14   Timemark ......................................................................................................................................... 34
15   Aiding and Acquisition ................................................................................................................... 35
15.1   Introduction.............................................................................................................................. 35
15.2   Startup Strategies..................................................................................................................... 35
15.3   Aiding / Assisted GPS (A-GPS) .................................................................................................. 36
15.4   Aiding Data .............................................................................................................................. 36
15.5   Aiding Sequence ...................................................................................................................... 36
15.6   AssistNow Online ..................................................................................................................... 37
15.7   AssistNow Offline..................................................................................................................... 37
15.7.1   Flash-based AlmanacPlus Overview ................................................................................. 38
15.7.1.1   Download Procedure ................................................................................................. 38
15.7.2   Host-based AlmanacPlus Overview .................................................................................. 39
15.7.3   Message specifics............................................................................................................... 40
15.7.3.1   Range checks .............................................................................................................. 40
15.7.3.2   Changing ALP files ..................................................................................................... 40
15.7.3.3   Sample Code............................................................................................................... 40
NMEA Protocol ........................................................................................................................................... 41
16   Protocol Overview .......................................................................................................................... 41
17   NMEA Protocol Configuration........................................................................................................ 41
18   Latitude and Longitude Format ..................................................................................................... 42
19   Position Fix Flags in NMEA ............................................................................................................. 43
20   Ouput of invalid/unknown data.................................................................................................... 43
21   NMEA Messages Overview ............................................................................................................ 44
22   Standard Messages ......................................................................................................................... 45
22.1   DTM........................................................................................................................................... 45
22.1.1   Datum Reference .............................................................................................................. 45
22.2   GBS ............................................................................................................................................ 46
22.2.1   GNSS Satellite Fault Detection ......................................................................................... 46
22.3   GGA........................................................................................................................................... 47
22.3.1   Global positioning system fix data................................................................................... 47
22.4   GLL ............................................................................................................................................ 48
22.4.1   Latitude and longitude, with time of position fix and status ........................................ 48
22.5   GLQ ........................................................................................................................................... 49
22.5.1   Poll a standard message (if the current Talker ID is GL) ................................................. 49
22.6   GNQ........................................................................................................................................... 49
22.6.1   Poll a standard message (if the current Talker ID is GN) ................................................ 49
22.7   GNS............................................................................................................................................ 50
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22.7.1   GNSS fix data ..................................................................................................................... 50
22.8   GPQ ........................................................................................................................................... 51
22.8.1   Poll a standard message (if the current Talker ID is GP)................................................. 51
22.9   GRS ............................................................................................................................................ 51
22.9.1   GNSS Range Residuals....................................................................................................... 51
22.10   GSA.......................................................................................................................................... 52
22.10.1   GNSS DOP and Active Satellites...................................................................................... 52
22.11   GST .......................................................................................................................................... 53
22.11.1   GNSS Pseudo Range Error Statistics ............................................................................... 53
22.12   GSV.......................................................................................................................................... 54
22.12.1   GNSS Satellites in View ................................................................................................... 54
22.13   RMC......................................................................................................................................... 55
22.13.1   Recommended Minimum data....................................................................................... 55
22.14   TXT .......................................................................................................................................... 56
22.14.1   Text Transmission ............................................................................................................ 56
22.15   VTG.......................................................................................................................................... 57
22.15.1   Course over ground and Ground speed ........................................................................ 57
22.16   ZDA ......................................................................................................................................... 58
22.16.1   Time and Date ................................................................................................................. 58
23   PUBX Messages ............................................................................................................................... 59
23.1   CONFIG (PUBX,41) .................................................................................................................... 59
23.1.1   Set Protocols and Baudrate .............................................................................................. 59
23.2   POSITION (PUBX,00) ................................................................................................................. 60
23.2.1   Poll a PUBX,00 message .................................................................................................... 60
23.2.2   Lat/Long Position Data...................................................................................................... 60
23.3   RATE (PUBX,40) ........................................................................................................................ 62
23.3.1   Set NMEA message output rate ....................................................................................... 62
23.4   SVSTATUS (PUBX,03) ................................................................................................................ 63
23.4.1   Poll a PUBX,03 message .................................................................................................... 63
23.4.2   Satellite Status................................................................................................................... 63
23.5   TIME (PUBX,04)......................................................................................................................... 64
23.5.1   Poll a PUBX,04 message .................................................................................................... 64
23.5.2   Time of Day and Clock Information................................................................................. 65