Navigation Data

The Navigation struct contains everything the receiver reports in each measurement cycle.

Overview

Component	UBX Source	Contents
pvt	UBX-NAV-PVT	Fix quality, position, velocity, time, accuracy
dop	UBX-NAV-DOP	Dilution of precision values
satellites	UBX-NAV-SAT	Per-satellite signal info (up to 64)
rfBlocks	UBX-MON-RF	Per-band RF/antenna info (up to 2)
geofencing	UBX-NAV-GEOFENCE	Geofence status

Field	C++	Python	C	Type	Unit	Description
Fix quality	`fixQuality`	`fix_quality`	`fix_quality`	enum	—	Invalid, GPS 2D/3D, DGNSS, PPS, Fixed RTK, Float RTK, Dead Reckoning
Fix status	`fixStatus`	`fix_status`	`fix_status`	enum	—	Void or Active
Fix type	`fixType`	`fix_type`	`fix_type`	enum	—	No Fix, DR Only, 2D, 3D, GNSS+DR, Time Only
Latitude	`latitude`	`latitude`	`latitude`	`double`	degrees	WGS84 latitude
Longitude	`longitude`	`longitude`	`longitude`	`double`	degrees	WGS84 longitude
Altitude	`altitude`	`altitude`	`altitude`	`float`	meters	Height above WGS84 ellipsoid
Altitude MSL	`altitudeMSL`	`altitude_msl`	`altitude_msl`	`float`	meters	Height above mean sea level
Speed	`speedOverGround`	`speed_over_ground`	`speed_over_ground`	`float`	m/s	Ground speed
Speed accuracy	`speedAccuracy`	`speed_accuracy`	`speed_accuracy`	`float`	m/s	Speed accuracy estimate
Heading	`heading`	`heading`	`heading`	`float`	degrees	Heading of motion
Heading accuracy	`headingAccuracy`	`heading_accuracy`	`heading_accuracy`	`float`	degrees	Heading accuracy estimate
Visible sats	`visibleSatellites`	`visible_satellites`	`visible_satellites`	`uint8_t`	count	Number of satellites used in fix
H. accuracy	`horizontalAccuracy`	`horizontal_accuracy`	`horizontal_accuracy`	`float`	meters	Horizontal accuracy estimate
V. accuracy	`verticalAccuracy`	`vertical_accuracy`	`vertical_accuracy`	`float`	meters	Vertical accuracy estimate

Field	C++	Python	C	Type	Description
Hours	`utc.hh`	`utc_time.hours`	`utc.hh`	`uint8_t`	0–23
Minutes	`utc.mm`	`utc_time.minutes`	`utc.mm`	`uint8_t`	0–59
Seconds	`utc.ss`	`utc_time.seconds`	`utc.ss`	`uint8_t`	0–60 (60 = leap second)
Valid	`utc.valid`	`utc_time.valid`	`utc.valid`	`bool`	Time validity flag
Accuracy	`utc.accuracy`	`utc_time.accuracy`	`utc.accuracy`	`int32_t`	Time accuracy estimate (ns)

Field	C++	Python	C	Type	Description
Day	`date.day`	`date.day`	`date.day`	`uint8_t`	1–31
Month	`date.month`	`date.month`	`date.month`	`uint8_t`	1–12
Year	`date.year`	`date.year`	`date.year`	`uint16_t`	Full year
Valid	`date.valid`	`date.valid`	`date.valid`	`bool`	Date validity flag

Lower values indicate better geometric conditions for positioning.

Field	C++	Python	C	Type	Description
GDOP	`geometric`	`geometric`	`geometric`	`float`	Overall geometric quality
PDOP	`position`	`position`	`position`	`float`	3D position
TDOP	`time`	`time`	`time`	`float`	Time
VDOP	`vertical`	`vertical`	`vertical`	`float`	Vertical position
HDOP	`horizontal`	`horizontal`	`horizontal`	`float`	Horizontal position
NDOP	`northing`	`northing`	`northing`	`float`	Northing
EDOP	`easting`	`easting`	`easting`	`float`	Easting

Per-satellite data, up to 64 entries. Sourced from UBX-NAV-SAT.

Field	C++	Python	C	Type	Description
Constellation	`gnssId`	`gnss_id`	`gnss_id`	enum	GPS, SBAS, Galileo, BeiDou, IMES, QZSS, GLONASS
SV ID	`svId`	`sv_id`	`sv_id`	`uint8_t`	Satellite vehicle number
C/N0	`cno`	`cno`	`cno`	`uint8_t`	Carrier-to-noise ratio (dBHz)
Elevation	`elevation`	`elevation`	`elevation`	`int8_t`	Degrees (-90 to 90)
Azimuth	`azimuth`	`azimuth`	`azimuth`	`int16_t`	Degrees (0 to 360)
Quality	`quality`	`quality`	`quality`	enum	Signal quality
Used in fix	`usedInFix`	`used_in_fix`	`used_in_fix`	`bool`	Whether satellite contributes to the fix
Healthy	`healthy`	`healthy`	`healthy`	`bool`	Satellite health flag

Per-band RF information, up to 2 entries. Sourced from UBX-MON-RF.

Field	C++	Python	C	Type	Description
Jamming state	`jammingState`	`jamming_state`	`jamming_state`	enum	Unknown, OK, Warning, Critical
Antenna status	`antennaStatus`	`antenna_status`	`antenna_status`	enum	Init, DontKnow, OK, Short, Open
Antenna power	`antennaPower`	`antenna_power`	`antenna_power`	enum	Off, On, DontKnow
Noise/ms	`noisePerMS`	`noise_per_ms`	`noise_per_ms`	`uint16_t`	Noise level per millisecond
AGC monitor	`agcMonitor`	`agc_monitor`	`agc_monitor`	`float`	AGC monitor percentage
CW suppression	`cwInterferenceSuppressionLevel`	`cw_interference_suppression_level`	`cw_interference_suppression_level`	`float`	CW interference suppression level
GNSS band	`gnssBand`	—	`gnss_band`	enum	L1, L2, L5

Separate from Navigation — accessed via timeMark() / waitAndGetFreshTimeMark(). Sourced from UBX-TIM-TM2.

Field	C++	Python	C	Type	Description
Mode	`mode`	`mode`	`mode`	enum	Single or Running
Run	`run`	`run`	`run`	enum	Armed or Stopped
Time base	`timeBase`	`time_base`	`time_base`	enum	Receiver, GNSS, or UTC
Rising TOW	`towRising_ms`	`tow_rising_ms`	`tow_rising_ms`	`uint32_t`	Rising edge time of week (ms)
Rising sub-ms	`towSubRising_ns`	`tow_sub_rising_ns`	`tow_sub_rising_ns`	`uint32_t`	Sub-millisecond rising (ns)
Falling TOW	`towFalling_ms`	`tow_falling_ms`	`tow_falling_ms`	`uint32_t`	Falling edge time of week (ms)
Falling sub-ms	`towSubFalling_ns`	`tow_sub_falling_ns`	`tow_sub_falling_ns`	`uint32_t`	Sub-millisecond falling (ns)
Accuracy	`accuracyEstimate_ns`	`accuracy_estimate_ns`	`accuracy_estimate_ns`	`uint32_t`	Accuracy estimate (ns)
Count	`count`	`count`	`count`	`uint16_t`	Event counter