u-blox ZED-F9P Interface Description - Manual
Advance Information
NAV-HPPOSECEF continued
Byte Offset Number
Format
Scaling Name Unit Description
21 I1 0.1 ecefYHp mm High precision component of ECEF Y
coordinate. Must be in the range of -99..+99.
Precise coordinate in cm = ecefY + (ecefYHp *
1e-2).
22 I1 0.1 ecefZHp mm High precision component of ECEF Z coordinate.
Must be in the range of -99..+99. Precise
coordinate in cm = ecefZ + (ecefZHp * 1e-2).
23 U1 - reserved2 - Reserved
24 U4 0.1 pAcc mm Position Accuracy Estimate
5.14.6 UBX-NAV-HPPOSLLH (0x01 0x14)
5.14.6.1 High Precision Geodetic Position Solution
Message
UBX-NAV-HPPOSLLH
Description
High Precision Geodetic Position Solution
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Periodic/Polled
Comment
See important comments concerning validity of position given in section
Navigation Output Filters.
This message outputs the Geodetic position with high precision in the currently selected
ellipsoid. The default is the WGS84 Ellipsoid, but can be changed with the message UBX-
CFG-DAT.
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x14 36
see below
CK_A CK_B
Payload Contents:
Byte Offset Number
Format
Scaling Name Unit Description
0 U1 - version - Message version (0 for this version)
1 U1[3] - reserved1 - Reserved
4 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
8 I4 1e-7 lon deg Longitude
12 I4 1e-7 lat deg Latitude
16 I4 - height mm Height above ellipsoid.
20 I4 - hMSL mm Height above mean sea level
24 I1 1e-9 lonHp deg High precision component of longitude. Must
be in the range -99..+99. Precise longitude in
deg * 1e-7 = lon + (lonHp * 1e-2).
25 I1 1e-9 latHp deg High precision component of latitude. Must be
in the range -99..+99. Precise latitude in deg *
1e-7 = lat + (latHp * 1e-2).
UBX-18010854 - R04 Advance Information Page 144 of 259
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