u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
5.14.25 UBX-NAV-VELNED (0x01 0x12)
5.14.25.1 Velocity Solution in NED
Message
UBX-NAV-VELNED
Description
Velocity Solution in NED
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Periodic/Polled
Comment
See important comments concerning validity of velocity given in section
Navigation Output Filters.
-
Header Class ID Length (Bytes) Payload Checksum
Message Structure
0xB5 0x62 0x01 0x12 36
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 - velN cm/s North velocity component
8 I4 - velE cm/s East velocity component
12 I4 - velD cm/s Down velocity component
16 U4 - speed cm/s Speed (3-D)
20 U4 - gSpeed cm/s Ground speed (2-D)
24 I4 1e-5 heading deg Heading of motion 2-D
28 U4 - sAcc cm/s Speed accuracy Estimate
32 U4 1e-5 cAcc deg Course / Heading accuracy estimate
UBX-18010854 - R04 Advance Information Page 170 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