Ublox NEO-6 Integration Manual

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Ublox NEO-6 Integration Manual Manual pdf 70 page image

LEA-6 / NEO-6 / MAX-6 - Hardware Integration ManualUBX-14054794 Production Information AppendixPage 70 of 85B.2 Software migrationB.2.1 Software migration from ANTARIS 4 or u-blox 5 to a u-blox 6 GPS receiverSoftware migration from ANTARIS 4 or u-blox 5 to a u-blox 6 GPS receiver is a straightforward procedure.Nevertheless there are some differences to be considered with u-blox 5 firmware version 5.00. Like its ANTARIS4 and u-blox 5 predecessors, u-blox 6 technology supports UBX and NMEA protocol messages. Backwardcompatibility has been maintained as far as possible. New messages have been introduced for new functions.Only minor differences have to be expected in the UBX-NAV and UBX-AID classes of the UBX protocol and forthe standard NMEA messages such as GGA, GLL, GSA, GSV, RMC, VTG and ZDA.ANTARIS 4 u-blox6 RemarksUBX-CFG-NAV2 UBX-CFG-NAV5 UBX-CFG-NAV2 has been replaced by UBX-CFG-NAV5. The new message hasadditional features.The default dynamic platform is “Portable”. This platform is rather genericand allows the receiver to be operated in a wide dynamic range coveringpedestrians, cars as well as commercial aircrafts. Automotive applicationssuch as first-mount navigation systems may better utilize the “Automotive”platform, which is better geared to the dynamics of land vehicles but is onlyof limited use in airborne and high-dynamics environments.UBX-CFG-NAV5 does not support following features:Almanac NavigationNavigation Input filtersUBX-CFG-NAV5 has a message length of 36 Bytes (40 Bytes for UBX-CFG-NAV2)UBX-CFG-NAV5 FixMode is set by default to “Auto 3D/2D” as for ANTARIS4.Check the u-blox 6 Receiver Description including Protocol Specification [4].if this mode needs to be changed.UBX-CFG-MSG UBX-CFG-MSG No support for multiple configurations in one UBX-CFG-MSG commandUBX-CFG-RXM N/A Contrary to ANTARIS 4, u-blox6 does not need selecting GPS acquisitionsensitivity mode (Fast, Normal, High Sens and Auto mode) since theacquisition engine is powerful enough to search all satellite in one go.FixNow mode is not available anymore. Contact your local u-blox supportteam should you need further information.PUBX,01 N/A Other UBX or NMEA messages can be used to replace this messageUBX-NAV-POSUTM N/AUBX-CFG-TP UBX-CFG-TP u-blox 6 maintains this message for backwards compatibility only. For newdesigns use UBX-CFG-TP5.UBX-CFG-TP5 This is a new u-blox 6 message, for information see u-blox 6 ReceiverDescription including Protocol Specification [4].UBX-CFG-ANT UBX-CFG-ANT Antenna Open Circuit Detection: The default setting for LEA-4S and LEA-4Awas “enabled”. With all LEA-6 modules the default setting is “disabled”.Automatic Short Circuit Recovery: With ANTARIS 4 this was “disabled” bydefault. With u-blox 6 the default setting is “enabled”.UBX-CFG-RATE UBX-CFG- RATE Set to 1 with u-blox 6UBX-CFG-TMODE UBX-CFG-TMODE With u-blox 6 FW 6.02 and above it is no longer necessary to configure thenumber of satellites in UBX-CFG-NAV to 1 to enable the timing mode. This isperformed automatically.UBX-MON-HW UBX-MON-HW Message length has changed as the number of pins is different with u-blox6.0s Leap second by default FW 6.02 and FW7.0x: 15 sLeap second by defaultUBX-CFG-RATE UBX-CFG-RATE Disable SBAS services to achieve 4Hz navigationUBX-NAV- EKFSTATUS UBX-NAV- EKFSTATUS This message is only provided for backwards compatibility and should not beutilized for future designs. Instead, the messages ESF-STATUS and ESF-MEASshould be used.For u-blox 6 firmware the gyroscope value (gyroMean) is only output if thegyroscope is used in the navigation solution. This message is only available onLEA-4R and LEA-6R GPS Receivers.Table 29: Main differences between ANTARIS 4 and u-blox 6 software for migration