u-blox ANTARIS 4 - Navigation


your position is our focus
4.6 Navigation
Oncethe GPSreceiveris trackingenoughsatellites,it uses themeasurementstocalculatethecurrent position.
ThispartofthecodeiscalledNavigationSolution.
T
R
he following section discusses mainly the usage of the UBX proprietary messages UBX – CFG(Config) –
ATE(Rates), UBX – CFG(Config)–DAT
(Datums) and UBX–CFG(Config)– NAV2(Navigation2) to configure
t  Engine of the AN
ceiver. To get an optimal setting the application environment
m idered.
 Note UBX–CFG–NAVisn
4.6.1 Overview
he Navigation TARIS
®
4 GPS re
ustbecons
otsupportedanymoreforFirmware>3.04.
Parameter Description
Navigation Output
frameorUniversal
edtooneoutofmorethan200pre-defined
TheANTARIS
®
4GPSTechnologyoutputsthenavigationdatainLLA
(Latitude,LongitudeandAltitude),ECEFcoordinate
TransverseMercator(UTM)format.
TheLLAoutputcanbeconfigur
datums,ortoauserdatum.
Map Datum
TheANTARIS
®
4GPSTechnologysupportsmorethan200differentmap
datums(includingoneuserspecificdatum)andUniversalTransverseLocator
(UTM)
Navigation Update Rate
nupdaterateshigher
TheANTARIS
®
4GPSTechnologysupportsnavigatio
than1updatepersecond.
Dynamic Platform Model
Dynamicmodelsadjustthenavigationengine,tuningtheGPSperformance
totheapplicationenvironment.
Allow Almanac Navigation
EnableAlmanacNavigation(withoutephemerisdata)asadegradedmodeto
realizefastfixeswithreducedpositionaccuracy.
Navigation Input Filters
Appliesamasktothe
inputdata.Itscreens
inputparametersofthenavigationenginetofilterthe
potentiallypoorqualitydatapreventingitsuseinthe
navigationengine.
Navigation Output Filters
Appliesamasktothepositionfixestopreventpoorqualityfrombeing
output.Internally,thepositionsarestillcalculatedtofurthertracktheSVs.
RAIM
ReceiverAutonomousIntegrityMonitoring
DGPS
SpecificDifferentialGPSparameters
T GPS Navigation Pa
4.6.1.1 Navigation Output
Th
®
GPSTechnologyoutpu 
( EarthFixed)orUT
T be configure The
default datum is WGS84.The alti
 sea
level(MSL)isavailableifthedefault isselected.
 ofallpredefineddatums
able 27: Overview rameter
eANTARIS
4
EarthCentered
tsthenavigationdatainLLA(Latitude,LongitudeandAltitude),ECEF
M(UniversalTransverseMercator)format.
he LLA output can d to one out of more than 200 predefined datums or to a user datum.
tude
 is available asheight above ellipsoid(HAE). The height above mean
datumWGS84
Note RefertoAppendix B foralist
GPSModules-SystemIntegrationManual(SIM)(incl.ReferenceDesign) ReceiverDescription
GPS.G4-MS4-05007-A1
  Page 96