u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
5.14.12 UBX-NAV-RELPOSNED (0x01 0x3C)
5.14.12.1 Relative Positioning Information in NED frame
Message
UBX-NAV-RELPOSNED
Description
Relative Positioning Information in NED frame
Firmware
Supported on:
• u-blox 9 with protocol version 27 (only with High Precision GNSS products)
Type
Periodic/Polled
Comment
The NED frame is defined as the local topological system at the reference station.
The relative position vector components in this message, along with their
associated accuracies, are given in that local topological system
This message contains the relative position vector from the Reference Station to the Rover,
including accuracy figures, in the local topological system defined at the reference station
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x3C 40
see below
CK_A CK_B
Payload Contents:
Byte Offset Number
Format
Scaling Name Unit Description
0 U1 - version - Message version (0x00 for this version)
1 U1 - reserved1 - Reserved
2 U2 - refStationId - Reference Station ID. Must be in the range 0..
4095
4 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
8 I4 - relPosN cm North component of relative position vector
12 I4 - relPosE cm East component of relative position vector
16 I4 - relPosD cm Down component of relative position vector
20 I1 0.1 relPosHPN mm High-precision North component of relative
position vector.
Must be in the range -99 to +99.
The full North component of the relative
position vector, in units of cm, is given by
relPosN + (relPosHPN * 1e-2)
21 I1 0.1 relPosHPE mm High-precision East component of relative
position vector.
Must be in the range -99 to +99.
The full East component of the relative position
vector, in units of cm, is given by
relPosE + (relPosHPE * 1e-2)
22 I1 0.1 relPosHPD mm High-precision Down component of relative
position vector.
Must be in the range -99 to +99.
The full Down component of the relative
position vector, in units of cm, is given by
relPosD + (relPosHPD * 1e-2)
23 U1 - reserved2 - Reserved
24 U4 0.1 accN mm Accuracy of relative position North component
UBX-18010854 - R04 Advance Information Page 153 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