diff --git a/ublox_gps/include/ublox_gps/ublox_firmware9.hpp b/ublox_gps/include/ublox_gps/ublox_firmware9.hpp
index f69b10f7..c9a46820 100644
--- a/ublox_gps/include/ublox_gps/ublox_firmware9.hpp
+++ b/ublox_gps/include/ublox_gps/ublox_firmware9.hpp
@@ -11,6 +11,7 @@
 #include <ublox_msgs/msg/cfg_valset_cfgdata.hpp>
 #include <ublox_msgs/msg/nav_timegps.hpp>
 #include <ublox_msgs/msg/nav_timeutc.hpp>
+#include <ublox_msgs/msg/nav_pl.hpp>
 
 #include <ublox_gps/fix_diagnostic.hpp>
 #include <ublox_gps/gnss.hpp>
@@ -45,11 +46,12 @@ class UbloxFirmware9 final : public UbloxFirmware8 {
   /**
     * @brief Populate the CfgVALSETCfgData data type
     *
-    * @details A helper function used to generate a configuration for a single signal. 
+    * @details A helper function used to generate a configuration for a single signal.
     */
   ublox_msgs::msg::CfgVALSETCfgdata generateSignalConfig(uint32_t signalID, bool enable);
   rclcpp::Publisher<ublox_msgs::msg::NavTIMEGPS>::SharedPtr nav_timegps_pub_;
   rclcpp::Publisher<ublox_msgs::msg::NavTIMEUTC>::SharedPtr nav_timeutc_pub_;
+  rclcpp::Publisher<ublox_msgs::msg::NavPL>::SharedPtr nav_pl_pub_;
 };
 
 }  // namespace ublox_node
diff --git a/ublox_gps/src/node.cpp b/ublox_gps/src/node.cpp
index 39c14821..83bf79d0 100644
--- a/ublox_gps/src/node.cpp
+++ b/ublox_gps/src/node.cpp
@@ -427,6 +427,8 @@ void UbloxNode::getRosParams() {
   this->declare_parameter("publish.nav.timegps", getRosBoolean(this, "publish.nav.all"));
   this->declare_parameter("publish.nav.timeutc", getRosBoolean(this, "publish.nav.all"));
   this->declare_parameter("publish.nav.velned", getRosBoolean(this, "publish.nav.all"));
+  this->declare_parameter("publish.nav.pl", getRosBoolean(this, "publish.nav.all"));
+
 
   this->declare_parameter("publish.rxm.all", getRosBoolean(this, "publish.all"));
   this->declare_parameter("publish.rxm.almRaw", getRosBoolean(this, "publish.rxm.all"));
diff --git a/ublox_gps/src/ublox_firmware9.cpp b/ublox_gps/src/ublox_firmware9.cpp
index 1a51a021..f57697ae 100644
--- a/ublox_gps/src/ublox_firmware9.cpp
+++ b/ublox_gps/src/ublox_firmware9.cpp
@@ -23,6 +23,10 @@ UbloxFirmware9::UbloxFirmware9(const std::string & frame_id, std::shared_ptr<dia
   {
     nav_timeutc_pub_ = node->create_publisher<ublox_msgs::msg::NavTIMEUTC>("navtimeutc", 1);
   }
+  if (getRosBoolean(node_, "publish.nav.pl"))
+  {
+    nav_pl_pub_ = node_->create_publisher<ublox_msgs::msg::NavPL>("navpl", 1);
+  }
 }
 
 bool UbloxFirmware9::configureUblox(std::shared_ptr<ublox_gps::Gps> gps)
@@ -127,7 +131,7 @@ ublox_msgs::msg::CfgVALSETCfgdata UbloxFirmware9::generateSignalConfig(uint32_t
 }
 
 void UbloxFirmware9::subscribe(std::shared_ptr<ublox_gps::Gps> gps)
-{ 
+{
   UbloxFirmware8::subscribe(gps);
 
   // Subscribe to NAV TIMEGPS messages
@@ -141,6 +145,12 @@ void UbloxFirmware9::subscribe(std::shared_ptr<ublox_gps::Gps> gps)
     gps->subscribe<ublox_msgs::msg::NavTIMEUTC>([this](const ublox_msgs::msg::NavTIMEUTC &m) {
       nav_timeutc_pub_->publish(m); }, 1);
   }
+
+  // Subscribe to Nav PL
+  if (getRosBoolean(node_, "publish.nav.pl")) {
+    gps->subscribe<ublox_msgs::msg::NavPL>([this](const ublox_msgs::msg::NavPL &m) {
+      nav_pl_pub_->publish(m); }, 1);
+  }
 }
 
 
diff --git a/ublox_msgs/CMakeLists.txt b/ublox_msgs/CMakeLists.txt
index 4e3db305..d762fdd2 100644
--- a/ublox_msgs/CMakeLists.txt
+++ b/ublox_msgs/CMakeLists.txt
@@ -85,6 +85,7 @@ set(msg_files
   "msg/NavTIMEUTC.msg"
   "msg/NavVELECEF.msg"
   "msg/NavVELNED.msg"
+  "msg/NavPL.msg"
   "msg/RxmALM.msg"
   "msg/RxmEPH.msg"
   "msg/RxmRAW.msg"
diff --git a/ublox_msgs/include/ublox_msgs/serialization.hpp b/ublox_msgs/include/ublox_msgs/serialization.hpp
index 2ce349e4..99dece01 100644
--- a/ublox_msgs/include/ublox_msgs/serialization.hpp
+++ b/ublox_msgs/include/ublox_msgs/serialization.hpp
@@ -2500,6 +2500,68 @@ struct UbloxSerializer<ublox_msgs::msg::NavVELNED_<ContainerAllocator> > {
   }
 };
 
+template <typename ContainerAllocator>
+struct UbloxSerializer<ublox_msgs::msg::NavPL_<ContainerAllocator>>
+{
+  inline static void read(const uint8_t *data, uint32_t count,
+                          ublox_msgs::msg::NavPL_<ContainerAllocator> &m)
+  {
+    UbloxIStream stream(const_cast<uint8_t *>(data), count);
+    stream.next(m.msg_version);
+    stream.next(m.tmir);
+    stream.next(m.tmir_exp);
+    stream.next(m.pl_pos_valid);
+    stream.next(m.pl_pos_frame);
+    stream.next(m.pl_vel_valid);
+    stream.next(m.pl_vel_frame);
+    stream.next(m.pl_time_valid);
+    stream.next(m.reserved0);
+    stream.next(m.i_tow);
+    stream.next(m.pl_pos1);
+    stream.next(m.pl_pos2);
+    stream.next(m.pl_pos3);
+    stream.next(m.pl_vel1);
+    stream.next(m.pl_vel2);
+    stream.next(m.pl_vel3);
+    stream.next(m.pl_pos_horiz_orientation);
+    stream.next(m.pl_vel_horiz_orientation);
+    stream.next(m.pl_time);
+    stream.next(m.reserved1);
+  }
+
+  inline static uint32_t serializedLength(const ublox_msgs::msg::NavPL_<ContainerAllocator> &m)
+  {
+    (void)m;
+    return 52;
+  }
+
+  inline static void write(uint8_t *data, uint32_t size,
+                           const ublox_msgs::msg::NavPL_<ContainerAllocator> &m)
+  {
+    UbloxOStream stream(data, size);
+    stream.next(m.msg_version);
+    stream.next(m.tmir);
+    stream.next(m.tmir_exp);
+    stream.next(m.pl_pos_valid);
+    stream.next(m.pl_pos_frame);
+    stream.next(m.pl_vel_valid);
+    stream.next(m.pl_vel_frame);
+    stream.next(m.pl_time_valid);
+    stream.next(m.reserved0);
+    stream.next(m.i_tow);
+    stream.next(m.pl_pos1);
+    stream.next(m.pl_pos2);
+    stream.next(m.pl_pos3);
+    stream.next(m.pl_vel1);
+    stream.next(m.pl_vel2);
+    stream.next(m.pl_vel3);
+    stream.next(m.pl_pos_horiz_orientation);
+    stream.next(m.pl_vel_horiz_orientation);
+    stream.next(m.pl_time);
+    stream.next(m.reserved1);
+  }
+};
+
 template <typename ContainerAllocator>
 struct UbloxSerializer<ublox_msgs::msg::NavTIMEGPS_<ContainerAllocator> > {
   inline static void read(const uint8_t *data, uint32_t count,
@@ -2567,7 +2629,7 @@ struct UbloxSerializer<ublox_msgs::msg::NavTIMEUTC_<ContainerAllocator> > {
     stream.next(m.valid);
   }
 };
-  
+
 ///
 /// @brief Serializes the RxmALM message which has a repeated block.
 ///
diff --git a/ublox_msgs/include/ublox_msgs/ublox_msgs.hpp b/ublox_msgs/include/ublox_msgs/ublox_msgs.hpp
index b1ac7155..f00280d3 100644
--- a/ublox_msgs/include/ublox_msgs/ublox_msgs.hpp
+++ b/ublox_msgs/include/ublox_msgs/ublox_msgs.hpp
@@ -50,6 +50,7 @@
 #include <ublox_msgs/msg/nav_timeutc.hpp>
 #include <ublox_msgs/msg/nav_velecef.hpp>
 #include <ublox_msgs/msg/nav_velned.hpp>
+#include <ublox_msgs/msg/nav_pl.hpp>
 
 #include <ublox_msgs/msg/rxm_alm.hpp>
 #include <ublox_msgs/msg/rxm_eph.hpp>
@@ -177,6 +178,7 @@ namespace Message {
     static const uint8_t TIMEUTC = ublox_msgs::msg::NavTIMEUTC::MESSAGE_ID;
     static const uint8_t VELECEF = ublox_msgs::msg::NavVELECEF::MESSAGE_ID;
     static const uint8_t VELNED = ublox_msgs::msg::NavVELNED::MESSAGE_ID;
+    static const uint8_t PL = ublox_msgs::msg::NavPL::MESSAGE_ID;
   }  // namespace NAV
 
   namespace RXM {
diff --git a/ublox_msgs/msg/NavPL.msg b/ublox_msgs/msg/NavPL.msg
new file mode 100644
index 00000000..9229b7b4
--- /dev/null
+++ b/ublox_msgs/msg/NavPL.msg
@@ -0,0 +1,33 @@
+# NAV_PL (0x01 0x62)
+# Navigation protection level
+
+uint8 CLASS_ID = 1
+uint8 MESSAGE_ID = 0x62
+
+uint8 msg_version
+uint8 tmir # Target misleading information risk [%MI/epoch]
+int8 tmir_exp
+
+uint8 pl_pos_valid
+uint8 pl_pos_frame
+uint8 pl_vel_valid
+uint8 pl_vel_frame
+uint8 pl_time_valid
+
+uint32 reserved0
+
+uint32 i_tow # GPS Millisecond time of week [ms]
+
+uint32 pl_pos1 # [mm]
+uint32 pl_pos2 # [mm]
+uint32 pl_pos3 # [mm]
+
+uint32 pl_vel1 # [mm/s]
+uint32 pl_vel2 # [mm/s]
+uint32 pl_vel3 # [mm/s]
+
+uint16 pl_pos_horiz_orientation # [deg - clockwise from true North]
+uint16 pl_vel_horiz_orientation # [deg - clockwise from true North]
+
+uint32 pl_time # [ns]
+uint32 reserved1
\ No newline at end of file
diff --git a/ublox_msgs/src/ublox_msgs.cpp b/ublox_msgs/src/ublox_msgs.cpp
index ac905307..e70b88eb 100644
--- a/ublox_msgs/src/ublox_msgs.cpp
+++ b/ublox_msgs/src/ublox_msgs.cpp
@@ -80,6 +80,8 @@ DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::VELECEF,
                       ublox_msgs, NavVELECEF)
 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::VELNED,
                       ublox_msgs, NavVELNED)
+DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::PL,
+                      ublox_msgs, NavPL)
 
 // ACK messages are declared differently because they both have the same
 // protocol, so only 1 ROS message is used