u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
Table of Contents
Preface .......................................................................................................................................................... 1
1 Document Overview........................................................................................................................... 1
2 Firmware and Protocol Versions........................................................................................................ 1
2.1 How to Determine the Version and the Location of the Firmware.......................................... 1
2.1.1 Decoding the Boot Screen (for Protocol Version 24 and Above)....................................... 1
2.1.2 Decoding the output of UBX-MON-VER (for Protocol Version 24 and above) ................. 2
2.2 How to Determine the Supported Protocol Version of the u-blox Receiver............................ 3
2.2.1 u-blox 9 Firmware and Supported Protocol Versions ......................................................... 3
3 Receiver Configuration....................................................................................................................... 3
Interface Description.................................................................................................................................... 6
4 NMEA Protocol .................................................................................................................................... 6
4.1 Protocol Overview........................................................................................................................ 6
4.1.1 Message Format .................................................................................................................... 6
4.1.2 Talker ID................................................................................................................................. 6
4.1.3 Protocol Configuration......................................................................................................... 7
4.1.4 Satellite Numbering.............................................................................................................. 8
4.1.5 Latitude and Longitude Format........................................................................................... 8
4.1.6 Position Fix Flags ................................................................................................................... 9
4.1.7 Multi-GNSS Considerations................................................................................................. 10
4.1.8 Output of Invalid/Unknown Data ...................................................................................... 10
4.1.9 Messages Overview............................................................................................................. 10
4.2 Standard Messages..................................................................................................................... 12
4.2.1 DTM...................................................................................................................................... 12
4.2.2 GBQ...................................................................................................................................... 13
4.2.3 GBS....................................................................................................................................... 13
4.2.4 GGA...................................................................................................................................... 14
4.2.5 GLL ....................................................................................................................................... 16
4.2.6 GLQ ...................................................................................................................................... 17
4.2.7 GNQ...................................................................................................................................... 17
4.2.8 GNS....................................................................................................................................... 18
4.2.9 GPQ ...................................................................................................................................... 19
4.2.10 GRS..................................................................................................................................... 19
4.2.11 GSA..................................................................................................................................... 20
4.2.12 GST ..................................................................................................................................... 21
4.2.13 GSV..................................................................................................................................... 22
4.2.14 RMC.................................................................................................................................... 23
4.2.15 TXT ..................................................................................................................................... 24
4.2.16 VLW.................................................................................................................................... 25
4.2.17 VTG..................................................................................................................................... 26
UBX-18010854 - R04 Advance Information Page iii

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