u-blox ZED-F9P Interface Description - Manual
Advance Information
5.14 UBX-NAV (0x01)
Navigation Results Messages: i.e. Position, Speed, Time, Acceleration, Heading, DOP, SVs used.
Messages in the NAV class are used to output navigation data such as position, altitude and velocity in a
number of formats. Additionally, status flags and accuracy figures are output. The messages are generated with
the configured navigation/measurement rate.
5.14.1 UBX-NAV-CLOCK (0x01 0x22)
5.14.1.1 Clock Solution
Message
UBX-NAV-CLOCK
Description
Clock Solution
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Periodic/Polled
Comment
-
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x22 20
see below
CK_A CK_B
Payload Contents:
Byte Offset Number
Format
Scaling Name Unit Description
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - clkB ns Clock bias
8 I4 - clkD ns/s Clock drift
12 U4 - tAcc ns Time accuracy estimate
16 U4 - fAcc ps/s Frequency accuracy estimate
5.14.2 UBX-NAV-DOP (0x01 0x04)
5.14.2.1 Dilution of precision
Message
UBX-NAV-DOP
Description
Dilution of precision
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Periodic/Polled
Comment
• DOP values are dimensionless.
• All DOP values are scaled by a factor of 100. If the unit transmits a value of e.g. 156, the
DOP value is 1.56.
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x04 18
see below
CK_A CK_B
Payload Contents:
Byte Offset Number
Format
Scaling Name Unit Description
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U2 0.01 gDOP - Geometric DOP
6 U2 0.01 pDOP - Position DOP
UBX-18010854 - R04 Advance Information Page 141 of 259
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