u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
NAV-POSLLH continued
Byte Offset Number
Format
Scaling Name Unit Description
24 U4 - vAcc mm Vertical accuracy estimate
5.14.11 UBX-NAV-PVT (0x01 0x07)
5.14.11.1 Navigation Position Velocity Time Solution
Message
UBX-NAV-PVT
Description
Navigation Position Velocity Time Solution
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Periodic/Polled
Comment
Note that during a leap second there may be more (or less) than 60 seconds in a
minute; see the description of leap seconds for details.
This message combines position, velocity and time solution, including accuracy figures
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x07 92
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 - year y Year (UTC)
6 U1 - month month Month, range 1..12 (UTC)
7 U1 - day d Day of month, range 1..31 (UTC)
8 U1 - hour h Hour of day, range 0..23 (UTC)
9 U1 - min min Minute of hour, range 0..59 (UTC)
10 U1 - sec s Seconds of minute, range 0..60 (UTC)
11 X1 - valid - Validity flags (see graphic below)
12 U4 - tAcc ns Time accuracy estimate (UTC)
16 I4 - nano ns Fraction of second, range -1e9 .. 1e9 (UTC)
20 U1 - fixType - GNSSfix Type:
0: no fix
1: dead reckoning only
2: 2D-fix
3: 3D-fix
4: GNSS + dead reckoning combined
5: time only fix
21 X1 - flags - Fix status flags (see graphic below)
22 X1 - flags2 - Additional flags (see graphic below)
23 U1 - numSV - Number of satellites used in Nav Solution
24 I4 1e-7 lon deg Longitude
28 I4 1e-7 lat deg Latitude
32 I4 - height mm Height above ellipsoid
36 I4 - hMSL mm Height above mean sea level
40 U4 - hAcc mm Horizontal accuracy estimate
UBX-18010854 - R04 Advance Information Page 150 of 259

u-blox ZED-F9P Specifications

General

GNSS	GPS, GLONASS, Galileo, BeiDou, QZSS, SBAS
Concurrent GNSS	4
RTK	Yes
Velocity Accuracy	0.05 m/s
Time Pulse Accuracy	30 ns
Operating Temperature	-40°C to +85°C
Supply Voltage	2.7 V to 3.6 V
Channels	184
Frequency Bands	L1, L2
Dimensions	22 mm x 17 mm x 2.4 mm
Interfaces	UART, SPI, I2C