u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
4.2.9 GPQ
4.2.9.1 Poll a standard message (if the current Talker ID is GP)
Message
GPQ
Description
Poll a standard message (if the current Talker ID is GP)
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Input Message
Comment
Polls a standard NMEA message if the current Talker ID is GP
ID for CFG-MSG Number of fields
Message Info
0xF0 0x40 4
Message Structure:
$xxGPQ,msgId*cs<CR><LF>
Example:
$EIGPQ,RMC*3A
Field
No.
Name Unit Format Example Description
0 xxGPQ - string $EIGPQ GPQ Message ID (xx = Talker ID of the device
requesting the poll)
1 msgId - string RMC Message ID of the message to be polled
2 cs - hexadecimal *3A Checksum
3 <CR><LF> - character - Carriage return and line feed
4.2.10 GRS
4.2.10.1 GNSS Range Residuals
Message
GRS
Description
GNSS Range Residuals
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Output Message
Comment
This messages relates to associated GGA and GSA messages.
If less than 12 SVs are available, the remaining fields are output empty. If more than 12 SVs
are used, only the residuals of the first 12 SVs are output, in order to remain consistent
with the NMEA standard.
In a multi-GNSS system this message will be output multiple times, once for each
GNSS.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x06 19
Message Structure:
$xxGRS,time, mode {,residual},systemId,signalId*cs<CR><LF>
Example:
$GPGRS,082632.00,1,0.54,0.83,1.00,1.02,-2.12,2.64,-0.71,-1.18,0.25,,,1,0*70
Field
No.
Name Unit Format Example Description
0 xxGRS - string $GPGRS GRS Message ID (xx = current Talker ID)
UBX-18010854 - R04 Advance Information Page 19 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