u-blox F10 SPG 6.00-Interface description
2.7.11 GQQ...............................................................................................................................................28
2.7.11.1 Poll a standard message (Talker ID GQ)...................................................................... 29
2.7.12 GRS............................................................................................................................................... 29
2.7.12.1 GNSS range residuals...................................................................................................... 29
2.7.13 GSA............................................................................................................................................... 30
2.7.13.1 GNSS DOP and active satellites....................................................................................30
2.7.14 GST............................................................................................................................................... 30
2.7.14.1 GNSS pseudorange error statistics..............................................................................30
2.7.15 GSV............................................................................................................................................... 31
2.7.15.1 GNSS satellites in view....................................................................................................31
2.7.16 RLM...............................................................................................................................................32
2.7.16.1 Return link message (RLM)............................................................................................32
2.7.17 RMC.............................................................................................................................................. 32
2.7.17.1 Recommended minimum data.......................................................................................33
2.7.18 TXT................................................................................................................................................33
2.7.18.1 Text transmission............................................................................................................. 33
2.7.19 VLW...............................................................................................................................................34
2.7.19.1 Dual ground/water distance........................................................................................... 34
2.7.20 VTG............................................................................................................................................... 35
2.7.20.1 Course over ground and ground speed........................................................................ 35
2.7.21 ZDA............................................................................................................................................... 35
2.7.21.1 Time and date................................................................................................................... 35
2.8 PUBX messages.................................................................................................................................... 36
2.8.1 CONFIG (PUBX,41).......................................................................................................................36
2.8.1.1 Set protocols and baud rate............................................................................................. 36
2.8.2 POSITION (PUBX,00)................................................................................................................... 36
2.8.2.1 Poll a PUBX,00 message....................................................................................................37
2.8.2.2 Lat/Long position data.......................................................................................................37
2.8.3 RATE (PUBX,40)........................................................................................................................... 38
2.8.3.1 Set NMEA message output rate..................................................................................... 38
2.8.4 SVSTATUS (PUBX,03)................................................................................................................. 39
2.8.4.1 Poll a PUBX,03 message....................................................................................................39
2.8.4.2 Satellite status.................................................................................................................... 39
2.8.5 TIME (PUBX,04)............................................................................................................................40
2.8.5.1 Poll a PUBX,04 message....................................................................................................40
2.8.5.2 Time of day and clock information..................................................................................40
3 UBX protocol.........................................................................................................................42
3.1 UBX protocol key features.................................................................................................................. 42
3.2 UBX frame structure............................................................................................................................ 42
3.3 UBX payload definition rules.............................................................................................................. 43
3.3.1 UBX structure packing................................................................................................................43
3.3.2 UBX reserved elements.............................................................................................................. 43
3.3.3 UBX undefined values................................................................................................................. 43
3.3.4 UBX conditional values............................................................................................................... 43
3.3.5 UBX data types.............................................................................................................................43
3.3.6 UBX fields scale and unit........................................................................................................... 44
3.3.7 UBX repeated fields..................................................................................................................... 44
3.3.8 UBX payload decoding................................................................................................................ 45
3.4 UBX checksum.......................................................................................................................................45
3.5 UBX message flow................................................................................................................................45
UBX-23002975 - R01
Contents Page 4 of 171
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