u-blox 6 GPS/GLONASS/QZSS Receiver Description Including Protocol Specification V14 Abstract The Receiver Description Including Protocol Specification describes the firmware features, specifications and configuration for u-blox 6 high performance positioning modules for GPS/GLONASS/QZSS. The Receiver Description provides an overview and conceptual details of the supported features. The Protocol Specification details version 14 of the NMEA and UBX protocols and serves as a reference manual. www.u-blox.com Document Information Title u-blox 6 GPS/GLONASS/QZSS Receiver Description Subtitle Including Protocol Specification V14 Document type Manual Document number GPS.G6-SW-12013 60119, 5 Jul 2012 Document status Protocol version 14.00 (Public Release) This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They can be downloaded from www.u-blox.com. u-blox makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make changes to specifications and product descriptions at any time without notice. u-blox reserves all rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without express permission is strictly prohibited. Copyright © 2012, u-blox AG. GPS.G6-SW-12013 Public Release Page ii Table of Contents Receiver Description .................................................................................................................................... 1 1 Overview ............................................................................................................................................. 1 2 Navigation Configuration Settings Description................................................................................ 1 2.1 Platform settings .......................................................................................................................... 1 2.2 Navigation Input Filters ............................................................................................................... 2 2.3 Navigation Output Filters ............................................................................................................ 2 2.4 Static Hold .................................................................................................................................... 3 2.5 Freezing the Course Over Ground .............................................................................................. 3 2.6 Degraded Navigation................................................................................................................... 3 2.6.1 2D Navigation........................................................................................................................ 3 3 GNSS Configuration............................................................................................................................ 3 3.1 GLONASS....................................................................................................................................... 4 3.2 QZSS .............................................................................................................................................. 4 4 Satellite Numbering............................................................................................................................ 4 4.1 NMEA ............................................................................................................................................ 4 4.2 UBX ............................................................................................................................................... 5 4.3 Summary ....................................................................................................................................... 5 5 SBAS Configuration Settings Description ......................................................................................... 5 5.1 SBAS (Satellite Based Augmentation Systems)........................................................................... 5 5.2 SBAS Features ............................................................................................................................... 7 5.3 SBAS Configuration...................................................................................................................... 8 6 Clocks and Time................................................................................................................................... 8 6.1 Receiver Local Time...................................................................................................................... 8 6.2 Navigation Epochs........................................................................................................................ 9 6.3 iTOW Timestamps ...................................................................................................................... 10 6.4 UTC Representation ................................................................................................................... 10 6.5 Leap Seconds .............................................................................................................................. 10 6.6 Real Time Clock .......................................................................................................................... 11 7 Serial Communication Ports Description......................................................................................... 11 7.1 TX-ready indication.................................................................................................................... 11 7.2 Extended TX timeout ................................................................................................................. 12 7.3 UART Ports.................................................................................................................................. 12 7.4 USB Port ...................................................................................................................................... 12 7.5 DDC Port ..................................................................................................................................... 13 7.5.1 Read Access.......................................................................................................................... 13 7.5.1.1 Random Read Access ................................................................................................... 14 7.5.1.2 Current Address Read .................................................................................................. 15 7.5.2 Write Access......................................................................................................................... 15 7.6 SPI Port........................................................................................................................................ 16 7.6.1 Maximum SPI clock speed................................................................................................... 16 GPS.G6-SW-12013 Public Release Page iii 7.6.2 Read Access.......................................................................................................................... 16 7.6.3 Back-To-Back Read and Write Access................................................................................. 17 7.7 How to change between protocols........................................................................................... 17 8 Receiver Configuration..................................................................................................................... 17 8.1 Configuration Concept .............................................................................................................. 17 8.2 Organization of the Configuration Sections ............................................................................ 18 8.3 Permanent Configuration Storage Media ................................................................................ 19 8.4 Receiver Default Configuration ................................................................................................ 19 9 Forcing a Receiver Reset................................................................................................................... 19 10 Remote Inventory ........................................................................................................................... 20 10.1 Description................................................................................................................................ 20 10.2 Usage ........................................................................................................................................ 20 11 Power Management ....................................................................................................................... 20 11.1 Continuous Mode..................................................................................................................... 20 11.2 Power Save Mode..................................................................................................................... 21 11.2.1 Operation .......................................................................................................................... 21 11.2.1.1 ON/OFF operation - long update period .................................................................. 22 11.2.1.2 Cyclic tracking operation - short update period