LEA-6 / NEO-6 - Hardware Integration Manual
GPS.G6-HW-09007-A Preliminary Appendix
Page 51 of 62
B.2 Software migration
Software migration from ANTARIS
4 or u-blox 5 to a u-blox 6 GPS receiver is a straightforward procedure.
Nevertheless there are some differences to be considered with u-blox 5 firmware version 5.00. Like its ANTARIS
4 and u-blox 5 predecessors, u-blox 6 technology supports UBX and NMEA protocol messages. Backward
compatibility has been maintained as far as possible. New messages have been introduced for new functions.
Only minor differences have to be expected in the UBX-NAV and UBX-AID classes of the UBX protocol and for
the standard NMEA messages such as GGA, GLL, GSA, GSV, RMC, VTG and ZDA.
ANTARIS
4 u-blox6 Remarks
UBX-CFG-NAV2 UBX-CFG-NAV5 UBX-CFG-NAV2 has been replaced by UBX-CFG-NAV5. The new message has
additional features.
The default dynamic platform is “Portable”. This platform is rather generic
and allows the receiver to be operated in a wide dynamic range covering
pedestrians, cars as well as commercial aircrafts. Automotive applications
such as first-mount navigation systems may better utilize the “Automotive”
platform, which is better geared to the dynamics of land vehicles but is only
of limited use in airborne and high-dynamics environments.
UBX-CFG-NAV5 does not support following features:
Almanac Navigation
Navigation Input filters
UBX-CFG-NAV5 has a message length of 36 Bytes (40 Bytes for UBX-CFG-
NAV2)
UBX-CFG-NAV5 FixMode is set by default to “Auto 3D/2D” as for ANTARIS4.
Check the u-blox 6 Receiver Description including Protocol Specification [3] if
this mode needs to be changed.
UBX-CFG-MSG UBX-CFG-MSG No support for multiple configurations in one UBX-CFG-MSG command
UBX-CFG-RXM N/A Contrary to ANTARIS 4, u-blox6 does not need selecting GPS acquisition
sensitivity mode (Fast, Normal, High Sens and Auto mode) since the
acquisition engine is powerful enough to search all satellite in one go.
FixNow mode is not available anymore. Contact your local u-blox support
team should you need further information.
PUBX,01 N/A Other UBX or NMEA messages can be used to replace this message
UBX-NAV-POSUTM N/A
UBX-CFG-TP UBX-CFG-TP u-blox 6 maintains this message for backwards compatibility only. For new
designs use UBX-CFG-TP5.
UBX-CFG-TP5 This is a new u-blox 6 message, for information see u-blox 6 Receiver
Description including Protocol Specification [3].
UBX-CFG-ANT UBX-CFG-ANT Antenna Open Circuit Detection: The default setting for LEA-4S and LEA-4A
was “enabled”. With all LEA-6 modules the default setting is “disabled”.
Automatic Short Circuit Recovery: With ANTARIS 4 this was “disabled” by
default. With u-blox 6 the default setting is “enabled”.
UBX-CFG-RATE UBX-CFG- RATE Set to 1 with u-blox 6
UBX-CFG-TMODE UBX-CFG-TMODE With u-blox 6 FW 6.02 and above it is no longer necessary to configure the
number of satellites in UBX-CFG-NAV to 1 to enable the timing mode. This is
performed automatically.
UBX-MON-HW UBX-MON-HW Message length has changed as the number of pins is different with u-blox6.
0s Leap second by default FW 6.02: 15 s Leap second
by default
UBX-CFG-RATE UBX-CFG-RATE Disable SBAS services to achieve 4Hz navigation
Table 13: Main differences between ANTARIS 4 and u-blox 6 software for migration
The default NMEA message set for u-blox 6 is GGA, GLL, GSA, GSV, RMC and VTG. Contrary to ANTARIS 4,
ZDA is disabled by default.
Firmware update is supported by all of these interfaces. The firmware update mechanism of u-blox 6 is more
sophisticated than with ANTARIS 4. It is now based on UBX protocol messages. Customers, who implemented
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