u-blox 7

1 AbstractThe Receiver Description Including Protocol Specificationdescribes the firmware features, specifications and configurationfor u- blox 7 high performance high performance Receiver Description provides an overview and conceptualdetails of the supported features. The Protocol Specificationdetails version 14 of the NMEA and UBX protocols and serves asa reference 7 Receiver DescriptionIncluding Protocol Specification V14 Document Information Title u- blox 7 Receiver Description Subtitle Including Protocol Specification V14 Document type Manual Document number 15 Jun 2018 Document status Protocol version (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 canbe downloaded from u- blox makes no warranties based on the accuracy or completeness of the contents of thisdocument and reserves the right to make changes to specifications and product descriptions at any time without notice.

2 U- blox reserves allrights to this document and the information contained herein. Reproduction, use or disclosure to third parties without express permissionis strictly prohibited. Copyright 2018, u- blox ReleasePage iiTable of ContentsReceiver Navigation Configuration Settings Platform Navigation Input Navigation Output Static Freezing the Course Over Degraded 2D GNSS Satellite SBAS Configuration Settings SBAS (Satellite Based Augmentation Systems).. SBAS SBAS Clocks and Receiver Local Navigation iTOW UTC Leap Real Time Serial Communication Ports TX-ready Extended TX UART USB DDC Read Random Read Current Address Write SPI Maximum SPI clock ReleasePage Read Back-To-Back Read and Write How to change between Receiver Configuration Organization of the Configuration Permanent Configuration Storage Receiver Default Forcing a Receiver Remote Power Continuous Power Save ON/OFF operation - long update Cyclic tracking operation - short update User controlled operation - update and search period of Satellite data Mode of Update and search Acquisition On time and wait for Do

3 Not enter 'inactive for search' state when no Update RTC and EXTINT pin Grid Behavior while USB host Cooperation with the AssistNow Autonomous Use Grid Use update periods of Peak current Power On/Off EXTINT pin control when Power Save Mode is not Measurement and navigation rate with Power Save Time ReleasePage Time pulse Configuring time pulse with Example 1:.. Example 2:..3113 Receiver Status Input/Output Jamming/Interference Jamming/Interference Monitor (ITFM)..3314 Aiding and Startup Aiding / Assisted GPS (A-GPS).. Aiding Aiding AssistNow AssistNow Flash-based AlmanacPlus Download Host-based AlmanacPlus Message Range Changing ALP Sample AssistNow Benefits and Precise Point Setting the logging system Information about the Command message Protocol NMEA Protocol Latitude and Longitude ReleasePage v21 Position Fix Flags in Ouput of invalid/unknown NMEA Messages Standard Datum GNSS Satellite Fault Global positioning system fix Latitude and longitude, with time of position fix and Poll a standard message (if the current Talker ID is GL).

4 Poll a standard message (if the current Talker ID is GN).. GNSS fix Poll a standard message (if the current Talker ID is GP).. GNSS Range GNSS DOP and Active GNSS Pseudo Range Error GNSS Satellites in Recommended Minimum Text Course over ground and Ground Time and PUBX CONFIG (PUBX,41).. Set Protocols and POSITION (PUBX,00).. Poll a PUBX,00 Lat/Long Position RATE (PUBX,40).. Set NMEA message output ReleasePage SVSTATUS (PUBX,03).. Poll a PUBX,03 Satellite TIME (PUBX,04).. Poll a PUBX,04 Time of Day and Clock UBX Protocol Key UBX Packet UBX Payload Definition Structure Message Number UBX UBX Message Polling UBX Class UBX Messages ACK (0x05).

5 ACK-ACK (0x05 0x01).. Message ACK-NAK (0x05 0x00).. Message AID (0x0B).. AID-ALM (0x0B 0x30).. Poll GPS Aiding Almanac Poll GPS Aiding Almanac Data for a GPS Aiding Almanac Input/Output AID-ALPSRV (0x0B 0x32).. ALP client requests AlmanacPlus data from ALP server sends AlmanacPlus data to ALP client sends AlmanacPlus data to AID-ALP (0x0B 0x50).. ALP file data transfer to the Mark end of data Acknowledges a data Indicate problems with a data Poll the AlmanacPlus AID-AOP (0x0B 0x33).. Poll AssistNow Autonomous Poll AssistNow Autonomous data for one AssistNow Autonomous AID-DATA (0x0B 0x10).. ReleasePage Polls all GPS Initial Aiding AID-EPH (0x0B 0x31).. Poll GPS Aiding Ephemeris Poll GPS Aiding Ephemeris Data for a GPS Aiding Ephemeris Input/Output AID-HUI (0x0B 0x02).

6 Poll GPS Health, UTC and ionosphere GPS Health, UTC and ionosphere AID-INI (0x0B 0x01).. Poll GPS Initial Aiding Aiding position, time, frequency, clock AID-REQ (0x0B 0x00).. Sends a poll (AID-DATA) for all GPS Aiding CFG (0x06).. CFG-ANT (0x06 0x13).. Poll Antenna Control Antenna Control CFG-CFG (0x06 0x09).. Clear, Save and Load CFG-DAT (0x06 0x06).. Poll Datum Set User-defined The currently defined CFG-GNSS (0x06 0x3E).. Polls the configuration of the GNSS system GNSS system CFG-INF (0x06 0x02).. Poll INF message configuration for one Information message CFG-ITFM (0x06 0x39).. Polls the Jamming/Interference Monitor Jamming/Interference Monitor CFG-LOGFILTER (0x06 0x47).. Poll Data Logger filter Data Logger CFG-MSG (0x06 0x01).

7 Poll a message Set Message Rate(s).. Set Message CFG-NAV5 (0x06 0x24).. Poll Navigation Engine Navigation Engine CFG-NAVX5 (0x06 0x23).. Poll Navigation Engine Expert ReleasePage Navigation Engine Expert CFG-NMEA (0x06 0x17).. Poll the NMEA protocol NMEA protocol configuration (deprecated).. NMEA protocol CFG-PM2 (0x06 0x3B).. Poll extended Power Management Extended Power Management CFG-PRT (0x06 0x00).. Polls the configuration of the used I/O Polls the configuration for one I/O Port Configuration for Port Configuration for USB Port Configuration for SPI Port Configuration for DDC CFG-RATE (0x06 0x08).. Poll Navigation/Measurement Rate Navigation/Measurement Rate CFG-RINV (0x06 0x34).. Poll contents of Remote Contents of Remote CFG-RST (0x06 0x04).

8 Reset Receiver / Clear Backup Data CFG-RXM (0x06 0x11).. Poll RXM RXM CFG-SBAS (0x06 0x16).. Poll contents of SBAS SBAS CFG-TP5 (0x06 0x31).. Poll Time Pulse Poll Time Pulse Time Pulse CFG-USB (0x06 0x1B).. Poll a USB USB INF (0x04).. INF-DEBUG (0x04 0x04).. ASCII String output, indicating debug INF-ERROR (0x04 0x00).. ASCII String output, indicating an INF-NOTICE (0x04 0x02).. ASCII String output, with informational INF-TEST (0x04 0x03).. ReleasePage ASCII String output, indicating test INF-WARNING (0x04 0x01).. ASCII String output, indicating a LOG (0x21).. LOG-CREATE (0x21 0x07).. Create Log LOG-ERASE (0x21 0x03).. Erase Logged LOG-FINDTIME (0x21 0x0E).. Finds the index of the first log entry <= given This message is the response to FINDTIME LOG-INFO (0x21 0x08).

9 Poll for log Log LOG-RETRIEVEPOS (0x21 0x0b).. Position fix log LOG-RETRIEVESTRING (0x21 0x0d).. Byte string log LOG-RETRIEVE (0x21 0x09).. Request log LOG-STRING (0x21 0x04).. Store arbitrary string in on-board Flash MON (0x0A).. MON-HW2 (0x0A 0x0B).. Extended Hardware MON-HW (0x0A 0x09).. Hardware MON-IO (0x0A 0x02).. I/O Subsystem MON-MSGPP (0x0A 0x06).. Message Parse and Process MON-RXBUF (0x0A 0x07).. Receiver Buffer MON-RXR (0x0A 0x21).. Receiver Status MON-TXBUF (0x0A 0x08).. Transmitter Buffer MON-VER (0x0A 0x04).. Poll Receiver/Software Receiver/Software NAV (0x01).. NAV-AOPSTATUS (0x01 0x60).. AssistNow Autonomous NAV-CLOCK (0x01 0x22).. ReleasePage Clock NAV-DGPS (0x01 0x31).

10 DGPS Data Used for NAV-DOP (0x01 0x04).. Dilution of NAV-POSECEF (0x01 0x01).. Position Solution in NAV-POSLLH (0x01 0x02).. Geodetic Position NAV-PVT (0x01 0x07).. Navigation Position Velocity Time NAV-SBAS (0x01 0x32).. SBAS Status NAV-SOL (0x01 0x06).. Navigation Solution NAV-STATUS (0x01 0x03).. Receiver Navigation NAV-SVINFO (0x01 0x30).. Space Vehicle NAV-TIMEGPS (0x01 0x20).. GPS Time NAV-TIMEUTC (0x01 0x21).. UTC Time NAV-VELECEF (0x01 0x11).. Velocity Solution in NAV-VELNED (0x01 0x12).. Velocity Solution in RXM (0x02).. RXM-ALM (0x02 0x30).. Poll GPS Constellation Almanac Poll GPS Constellation Almanac Data for a GPS Aiding Almanac Input/Output RXM-EPH (0x02 0x31).. Poll GPS Constellation Ephemeris Poll GPS Constellation Ephemeris Data for a GPS Aiding Ephemeris Input/Output RXM-PMREQ (0x02 0x41).