ZED-F9P-Integration Manual
UBX-18010802 - R02
4 Receiver description Page 51 of 114
Advance Information
4.8.4 GNSS times
Each GNSS has its own time reference for which detailed and reliable information is provided in the
messages listed in the table below.
Time Reference Message
GPS Time UBX-NAV-TIMEGPS
BeiDou Time UBX-NAV-TIMEBDS
GLONASS Time UBX-NAV-TIMEGLO
Galileo Time UBX-NAV-TIMEGAL
UTC Time UBX-NAV-TIMEUTC
Table 17: GNSS Times
4.8.5 Time validity
Information about the validity of the time solution is given in the following form:
• Time validity: Information about time validity is provided in the valid flags (e.g. validDate and
validTime flags in the UBX-NAV-PVT message). If these flags are set, the time is known and
considered as valid for being used. These flags can be found in the GNSS Times table in the GNSS
Times section above as well as in the UBX-NAV-PVT message.
• Time validity confirmation: Information about confirmed validity is provided in the
confirmedDate and confirmedTime flags in the UBX-NAV-PVT message. If these flags are set,
the time validity could be confirmed by using an additional independent source, meaning that
the probability of the time to be correct is very high. Note that information about time validity
confirmation is only available if the confirmedAvai bit in the UBX-NAV-PVT message is set.
validDate means that the receiver has knowledge of the current date. However, it must
be noted that this date of the date might be wrong for various reasons. Only when the
confirmedDate flag is set, the probability of the bad date information drops significantly.
validTime means that the receiver has knowledge of the current time. However, it must be
noted that this time might be wrong for various reasons. Only when the confirmedTime flag
is set, the probability of bad time information drops significantly.
fullyResolved means that the UTC time is known without full seconds ambiguity. When
deriving UTC time from GNSS time the number of leap seconds must be known, with the
exception of GLONASS. It might take take several minutes to obtain such information from
the GNSS payload. When the one second ambiguity has not been resolved, the time accuracy
is usually in the range of ~20s.
4.8.6 UTC representation
UTC time is used in many NMEA and UBX messages. In NMEA messages it is always reported
rounded to the nearest hundredth of a second. Consequently, it is normally reported with two
decimal places (e.g. 124923.52). What is more, although compatibility mode (selected using CFG-
NMEA-COMPAT) requires three decimal places, rounding to the nearest hundredth of a second
remains, so the extra digit is always 0.
UTC time is also reported within some UBX messages, such as UBX-NAV-TIMEUTC and UBX-NAV-
PVT. In these messages date and time are separated into seven distinct integer fields. Six of
these (year, month, day, hour, min and sec) have fairly obvious meanings and are all guaranteed to
match the corresponding values in NMEA messages generated by the same navigation epoch. This
facilitates simple synchronization between associated UBX and NMEA messages.
The seventh field is called nano and it contains the number of nanoseconds by which the rest of
the time and date fields need to be corrected to get the precise time. So, for example, the UTC time
12:49:23.521 would be reported as: hour: 12, min: 49, sec: 23, nano: 521000000.
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