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NAV – SOL (0x01 0x06)
It periodically polls the information about navigation solution.
Header ID Data Length Data Checksum
0xB5 0x62 0x01 0x06 52 See below CK_A CK_B
Data
Offset bytes Format Descriptions Notes
0 U4 GPS time of week (ms)
4 I4 Remainder of rounded GPS time
of week relative to GPS
millisecond time of week (ns)
-500000 ~ 500000
8 I2 GPS week
10 U1 Navigation mode 0x00 – no fix
0x01 – dead reckoning
0x02 – 2D fix
0x03 – 3D fix
0x04 – GPS + dead reckoning
0x05 ~ 0xFF – reserved
11 U1 Flags 0x01 – GPS fix ok (under DOP
and accuracy masks)
0x02 – DGPS used
0x04 – week number valid
0x08 – time of week valid
the rest of them – reserved
12 I4 X coordinate (cm) In the ECEF frame
16 I4 Y coordinate (cm) In the ECEF frame
20 I4 Z coordinate (cm) In the ECEF frame
24 U4 3D position accuracy (cm)
28 I4 X velocity (cm/s) In the ECEF frame
32 I4 Y velocity (cm/s) In the ECEF frame
36 I4 Z velocity (cm/s) In the ECEF frame
40 U4 Speed accuracy (cm/s)
44 U2 PDOP Scaling: 0.01
46 U1 Reserved
47 U1
N
umber of SVs used in the
navigation solution
48 U4 Reserved