u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
4.2.18 ZDA .................................................................................................................................... 27
5 UBX Protocol...................................................................................................................................... 27
5.1 UBX Protocol Key Features........................................................................................................ 27
5.2 UBX Frame Structure.................................................................................................................. 27
5.3 UBX Payload Definition Rules ................................................................................................... 28
5.3.1 Structure Packing ................................................................................................................ 28
5.3.2 Reserved Elements .............................................................................................................. 28
5.3.3 Undefined Values................................................................................................................ 28
5.3.4 Message Naming................................................................................................................. 29
5.3.5 Number Formats.................................................................................................................. 29
5.4 UBX Checksum............................................................................................................................ 29
5.5 UBX Message Flow..................................................................................................................... 30
5.5.1 Acknowledgement.............................................................................................................. 30
5.5.2 Polling Mechanism.............................................................................................................. 30
5.6 UBX Class IDs .............................................................................................................................. 31
5.7 UBX Messages Overview............................................................................................................ 32
5.8 UBX-ACK (0x05).......................................................................................................................... 37
5.8.1 UBX-ACK-ACK (0x05 0x01).................................................................................................. 37
5.8.2 UBX-ACK-NAK (0x05 0x00) ................................................................................................. 37
5.9 UBX-CFG (0x06) .......................................................................................................................... 38
5.9.1 UBX-CFG-ANT (0x06 0x13) .................................................................................................. 38
5.9.2 UBX-CFG-CFG (0x06 0x09)................................................................................................... 39
5.9.3 UBX-CFG-DAT (0x06 0x06) .................................................................................................. 41
5.9.4 UBX-CFG-DGNSS (0x06 0x70).............................................................................................. 43
5.9.5 UBX-CFG-DYNSEED (0x06 0x85) ......................................................................................... 44
5.9.6 UBX-CFG-FIXSEED (0x06 0x84)............................................................................................ 44
5.9.7 UBX-CFG-GEOFENCE (0x06 0x69) ....................................................................................... 45
5.9.8 UBX-CFG-GNSS (0x06 0x3E)................................................................................................. 46
5.9.9 UBX-CFG-INF (0x06 0x02).................................................................................................... 48
5.9.10 UBX-CFG-ITFM (0x06 0x39) ............................................................................................... 50
5.9.11 UBX-CFG-LOGFILTER (0x06 0x47) ..................................................................................... 51
5.9.12 UBX-CFG-MSG (0x06 0x01)................................................................................................ 53
5.9.13 UBX-CFG-NAV5 (0x06 0x24).............................................................................................. 54
5.9.14 UBX-CFG-NAVX5 (0x06 0x23) ........................................................................................... 56
5.9.15 UBX-CFG-NMEA (0x06 0x17)............................................................................................. 59
5.9.16 UBX-CFG-ODO (0x06 0x1E) ............................................................................................... 62
5.9.17 UBX-CFG-PRT (0x06 0x00) ................................................................................................. 63
5.9.18 UBX-CFG-PWR (0x06 0x57)................................................................................................ 74
5.9.19 UBX-CFG-RATE (0x06 0x08)............................................................................................... 74
5.9.20 UBX-CFG-RINV (0x06 0x34) ............................................................................................... 75
5.9.21 UBX-CFG-RST (0x06 0x04) ................................................................................................. 76
5.9.22 UBX-CFG-TMODE3 (0x06 0x71)......................................................................................... 77
5.9.23 UBX-CFG-TP5 (0x06 0x31) ................................................................................................. 79
UBX-18010854 - R04 Advance Information Page iv

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