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ZED-F9H - Integration manual

Interface

Conﬁguration groups

UART2

CFG-UART2-*, CFG-UART2INPROT-*, CFG-UART2OUTPROT-*

USB

CFG-USB-*, CFG-USBINPROT-*, CFG-USBOUTPROT-*

I2C

CFG-I2C-*, CFG-I2CINPROT-*, CFG-I2COUTPROT-*

SPI

CFG-SPI-*, CFG-SPIINPROT-*, CFG-SPIOUTPROT-*

Table 2: Interface conﬁgurations

3.1.4.2 Message output conﬁguration

The rate of the supported output messages is conﬁgurable.

If the rate conﬁguration value is zero, then the corresponding message will not be output. Values
greater than zero indicate how often the message is output.

For periodic output messages the rate relates to the event the message is related to. For example,
the UBX-NAV-PVT (navigation, position, velocity and time solution) is related to the navigation
epoch. If the rate of this message is set to one (1), it will be output for every navigation epoch. If the
rate is set to two (2), it will be output every other navigation epoch. The rates of the output messages
are individually conﬁgurable per communication interface. See the CFG-MSGOUT-* conﬁguration
group.

Some messages, such as UBX-MON-VER, are non-periodic and will only be output as an answer to
a poll request.

The UBX-INF-* and NMEA-Standard-TXT information messages are non-periodic output messages
that do not have a message rate conﬁguration. Instead they can be enabled for each communication
interface via the CFG-INFMSG-* conﬁguration group.

All message output is additionally subject to the protocol conﬁguration of the
communication interfaces. Messages of a given protocol will not be output until the protocol
is enabled for output on the interface (see the

Communication interface conﬁguration

3.1.4.3 GNSS signal conﬁguration

The GNSS constellations and bands are conﬁgurable with conﬁguration keys from conﬁguration
group CFG-SIGNAL-*. Each GNSS constellation can be enabled or disabled independently except
for QZSS and SBAS which are functional only with GPS. A GNSS constellation is considered to be
enabled when the constellation enable key is set and at least one of the constellation's band keys
is enabled.

ZED-F9H only supports certain combinations of constellations and bands. For all constellations,
both L1 and L2 bands must either be enabled or disabled. BeiDou B2 is the exception (can either
have BeiDou B1+B2 or B1-only). Unsupported combinations will be rejected with a UBX-ACK-NAK
and the warning: "invalid sig cfg" will be sent via UBX-INF and NMEA-TXT messages (if enabled).

The following table shows possible conﬁguration key combinations for the GPS constellation.

Constellation key
CFG-SIGNAL-GPS_ENA

Band key
CFG-SIGNAL-GPS_L1CA_ENA

Band key
CFG-SIGNAL-GPS_L2C_ENA

Constellation
enabled?

false (0)

false (0)

false (0)

no

false (0)

false (0)

true (1)

no

false (0)

true (1)

false (0)

no

false (0)

true (1)

true (1)

no

true (1)

false (0)

false (0)

no

true (1)

false (0)

true (1)

Unsupported
combination

UBX-19030120 - R04

3 Receiver functionality

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Summary of Contents for ZED-F9H

Page 1: ... This document describes the features and application of ZED F9H a multi band GNSS module for heading applications designed to provide the best possible heading information to applications where precise attitude is of greatest importance www u blox com UBX 19030120 R04 C1 Public ...

Page 2: ...n the products names logos and designs included in this document Copying reproduction modiﬁcation or disclosure to third parties of this document or any part thereof is only permitted with the express written permission of u blox The information contained herein is provided as is and u blox assumes no liability for its use No warranty either express or implied is given including but not limited to...

Page 3: ...y 18 3 1 7 Navigation conﬁguration 18 3 2 SBAS 23 3 3 QZSS SLAS 25 3 3 1 Features 25 3 3 2 Conﬁguration 26 3 4 Geofencing 26 3 4 1 Introduction 26 3 4 2 Interface 26 3 4 3 Geofence state evaluation 26 3 4 4 Using a PIO for geofence state output 27 3 5 Logging 27 3 5 1 Introduction 27 3 5 2 Setting the logging system up 28 3 5 3 Information about the log 28 3 5 4 Recording 29 3 5 5 Retrieval 30 3 5...

Page 4: ...9 Date 51 3 11 Timing functionality 52 3 11 1 Time pulse 52 3 11 2 Timemark 56 3 12 Security 57 3 12 1 Spooﬁng detection monitoring 57 3 12 2 Jamming interference indicator 58 3 12 3 GNSS receiver integrity 59 3 13 u blox protocol feature descriptions 59 3 13 1 Broadcast navigation data 59 3 14 Forcing a receiver reset 66 3 15 Firmware upload 66 3 16 Spectrum analyzer 67 4 Design 68 4 1 Pin assign...

Page 5: ...d circuit options 83 4 8 4 Antenna RF input 84 4 8 5 Ground pads 85 4 8 6 Schematic design 85 4 8 7 Layout design in guideline 85 5 Product handling 86 5 1 ESD handling precautions 86 5 2 Soldering 86 5 3 Tapes 89 5 4 Reels 90 5 5 Moisture sensitivity levels 90 Appendix 91 A Glossary 91 B RTK conﬁguration procedures with u center 91 B 1 Rover conﬁguration with u center 91 C Stacked patch antenna 9...

Page 6: ...t source of information on all aspects of ZED F9H system software and hardware design The purpose of this document is to provide guidelines for a successful integration of the receiver with the customer s end product UBX 19030120 R04 1 Integration manual overview Page 6 of 101 C1 Public ...

Page 7: ...to the next level Delivers accurate heading for receiver pairs mounted on the same moving platform 0 4 deg 50 for 1 m baseline Heading accuracy independent of vehicle motion and calibration Fast time to heading output and robust performance with multi band multi constellation reception Compatible with ZED F9P moving bases Some typical applications for the ZED F9H are shown below Figure 1 Typical a...

Page 8: ...active antenna is mandatory with the ZED F9H 2 2 2 Typical ZED F9H application setups The moving base feature also enables derivation of the vehicle orientation by mounting two or three GNSS receivers on the same vehicle platform i e by ﬁxing the position of the GNSS antennas relative to each other See the ZED F9H Moving Base application note 4 for more information on designing in and using moving...

Page 9: ...ZED F9H Integration manual Figure 3 ZED F9H orientation of a vehicle in space Figure 4 ZED F9H used for drone heading determination UBX 19030120 R04 2 System description Page 9 of 101 C1 Public ...

Page 10: ...ZED F9H Integration manual Figure 5 ZED F9H used for automotive heading determination UBX 19030120 R04 2 System description Page 10 of 101 C1 Public ...

Page 11: ...nﬁguration items An item is made up of a pair consisting of a key ID and a value Related items are grouped together and identiﬁed under a common group name CFG GROUP a convention used in u center and within this document Within u center a conﬁguration group is identiﬁed as Group name and the conﬁguration item is identiﬁed as the item name under the Generation 9 Conﬁguration View Advanced Conﬁgurat...

Page 12: ... Allow communication to a host CPU operated in slave mode only Default messages activated as in UART1 Input output protocols available as in UART1 SPI is not available unless D_SEL pin is set to low see the D_SEL section Table 1 Default interface settings UART2 can function as the main correction interface RTCM 3 3 from a ZED F9P moving base is the default input protocol UART2 can also optionally ...

Page 13: ...conﬁguration group All message output is additionally subject to the protocol conﬁguration of the communication interfaces Messages of a given protocol will not be output until the protocol is enabled for output on the interface see the Communication interface conﬁguration 3 1 4 3 GNSS signal conﬁguration The GNSS constellations and bands are conﬁgurable with conﬁguration keys from conﬁguration gr...

Page 14: ...on polarity Set to 1 if the required logic polarity is active low default CFG HW ANT_CFG_PWRDOWN Power down antenna supply if short circuit is detected CFG HW ANT_CFG_PWRDOWN_POL Power down antenna logic polarity Set to 1 if the required logic polarity is active high default CFG HW ANT_CFG_RECOVER Enable auto recovery in the event of a short circuit To use this feature short circuit detection shou...

Page 15: ... 1 5 1 ZED F9P base RTCM corrections for the ZED F9H RTCM is a binary data protocol for communicating GNSS correction information The ZED F9H high precision receiver only supports RTCM corrections provided by a ZED F9P base receiver operating in moving base mode The following ZED F9P moving base messages are required RTCM 4072 0 3 Reference station PVT MSM4 4 or MSM7 GNSS observations for systems ...

Page 16: ... ﬁxing them To provide accurate heading information RTK ﬁxed mode should be kept The received correction messages stream should comply with the following The reference station ID in the reference station message RTCM 4072 0 must match that used in the MSM observation messages Otherwise the rover cannot compute its position With a direct connection between the ZED F9P moving base and the ZED F9H ro...

Page 17: ...base receiver typically experiences worse GNSS tracking than a static base receiver in an open sky environment and therefore the MB RTK performance may be degraded The MB rover will wait as long as possible to compute a navigation solution possibly lowering the navigation rate all the way to 1 Hz while doing so If not time matched observations are received in time the receiver will ﬂag the relativ...

Page 18: ...iption Portable default Applications with low acceleration e g portable devices Suitable for most situations Stationary Used in timing applications antenna must be stationary or other stationary applications Velocity restricted to 0 m s Zero dynamics assumed Pedestrian Applications with low acceleration and speed e g how a pedestrian would move Low acceleration assumed Automotive Used for applicat...

Page 19: ...es may provide degraded accuracy due to the long signal path through the atmosphere CFG NAVSPG INFIL_NCNOTHRS CFG NAVSPG INFIL_CNOTHRS A navigation solution will only be attempted if there are at least the given number of SVs with signals at least as strong as the given threshold Table 9 Navigation input ﬁlter parameters If the receiver only has three satellites for calculating a position the navi...

Page 20: ...ge headMot ﬁeld UBX NAV VELNED message heading ﬁeld NMEA RMC message cog ﬁeld and NMEA VTG message cogt ﬁeld The ﬁltering level can be set via the CFG ODO COGLPGAIN conﬁguration item and must be comprised between 0 heavy low pass ﬁltering and 255 weak low pass ﬁltering The ﬁltering level as deﬁned in the CFG ODO COGLPGAIN conﬁguration item deﬁnes the ﬁlter gain for speeds below 8 m s If the speed ...

Page 21: ...guration item additionally allows for conﬁguration of distance threshold If the estimated position is farther away from the static hold position than this threshold static mode will be quit The CFG MOT GNSSSPEED_THRS conﬁguration item allows you to set a speed that the static hold will release Figure 6 Position publication in static hold mode UBX 19030120 R04 3 Receiver functionality Page 21 of 10...

Page 22: ... bad signals or if the absolute speed value is very low under 0 1 m s then the course over ground value becomes inaccurate too In this case the course over ground value is frozen i e the previous value is kept and its accuracy is degraded over time These frozen values will not be output in the NMEA messages NMEA RMC and NMEA VTG unless the NMEA protocol is explicitly conﬁgured to do so see NMEA pr...

Page 23: ...9H Interface description 2 3 2 SBAS Supported from ﬁrmware version HDG 1 13 onwards ZED F9H high precision receiver is capable of receiving multiple SBAS signals concurrently even from diﬀerent SBAS systems WAAS EGNOS MSAS etc They can be tracked and used for navigation simultaneously Every SBAS satellite that broadcasts ephemeris or almanac information can be used for navigation just like a norma...

Page 24: ...long term corrections Primary 25 Long term corrections Primary 26 Ionosphere delays Primary Table 10 Supported SBAS messages Each satellite services a speciﬁc region and its correction signal is only useful within that region Planning is crucial to determine the best possible conﬁguration especially in areas where signals from diﬀerent SBAS systems can be received Example 1 SBAS receiver in North ...

Page 25: ...on data for pseudoranges of GPS QZSS and other major GNSS satellites The correction stream is transmitted on the L1S signal at the L1 frequency 1575 42 MHz For more information on QZSS SLAS visit the web site qzss go jp en QZSS SLAS is only used if no RTCM correction services are available If the connection stream is lost during the operation the receiver will switch to use the SLAS corrections af...

Page 26: ...ion solution Table 13 QZSS SLAS conﬁguration parameters If the RAIM option is set other GNSS time systems than the QZSS time system cannot be observed by measurements 3 4 Geofencing 3 4 1 Introduction Figure 9 Geofence The geofencing feature allows for the conﬁguration of up to four circular areas geofences on the Earth s surface The receiver will then evaluate for each of these areas whether the ...

Page 27: ...state Due to hardware restrictions the geofence unknown state is not conﬁgurable and is always represented as HIGH If the receiver is in the software backup mode or in the reset state the pin will go to HIGH accordingly The meaning of the LOW state can be conﬁgured using the CFG GEOFENCE PINPOL conﬁguration item The CFG GEOFENCE PIN conﬁguration item refers to a PIO and not a physical device pin T...

Page 28: ...not ﬁt will be rejected UBX LOG CREATE also causes the logging system to start up so that further logging messages can be processed The logging system will start up automatically on power up if there is a log in existence The log will remain in the receiver until speciﬁcally erased using the UBX LOG ERASE message The CFG LOGFILTER conﬁguration group controls whether logging of entries is currently...

Page 29: ... are compressed to reduce the amount of ﬂash space used In order to improve the compression the ﬁx values are rounded This means that the values returned by the logging system may diﬀer slightly from those that are gathered in real time The recorded data for a ﬁx comprises The time and date of the ﬁx recorded to a precision of one second Latitude and longitude to a precision of one millionth of a ...

Page 30: ...op recording via CFG_LOGFILTER RECORD_ENA while retrieving log entries from a circular log to avoid deletion of the requested entries between the request and transmission The receiver will send a UBX LOG RETRIEVEPOS message for each position ﬁx log entry and a UBX LOG RETRIEVESTRING message for each string log entry If the odometer was enabled at the time a position was logged then a UBX LOG RETRI...

Page 31: ...ously each conﬁgured with individual settings e g baud rate message rates etc More than one protocol e g UBX protocol and NMEA can be assigned to a single port multi protocol capability which is particularly useful for debugging purposes The ZED F9H provides UART1 UART2 SPI I2C and USB interfaces for communication with a host CPU The interfaces are conﬁgured via the conﬁguration methods described ...

Page 32: ...ded An error message appears when the UART RX interface is re enabled at the end of the one second period Baud rate Data bits Parity Stop bits 9600 8 none 1 19200 8 none 1 38400 8 none 1 57600 8 none 1 115200 8 none 1 230400 8 none 1 460800 8 none 1 921600 8 none 1 Table 18 Possible UART interface conﬁgurations The default baud rate is 38400 baud To prevent buﬀering problems it is recommended not ...

Page 33: ...ame default I2C slave address value To poll or set the I2C slave address use the CFG I2C ADDRESS conﬁguration item see the applicable interface description 2 The CFG I2C ADDRESS conﬁguration item is an 8 bit value containing the I2C slave address in 7 most signiﬁcant bits and the read write ﬂag in the least signiﬁcant bit 3 6 2 1 I2C register layout The I2C interface allows 256 registers to be add...

Page 34: ...is a logic low for write access are clocked onto the bus by the master transmitter The receiver answers with an acknowledge logic low to indicate that it recognizes the address Next the 8 bit address of the register to be read must be written to the bus Following the receiver s acknowledgment the master again triggers a start condition and writes the device address but this time the RW bit is a lo...

Page 35: ...ess The receiver does not provide any write access except for writing UBX and NMEA messages to the receiver such as conﬁguration or aiding data Therefore the register set mentioned in the section Read access is not writeable Following the start condition from the master the 7 bit device address and the RW bit which is a logic low for write access are clocked onto the bus by the master transmitter ...

Page 36: ...set to 0xFF To prevent the receiver from being busy parsing incoming data the parsing process is stopped after 50 subsequent bytes containing 0xFF The parsing process is re enabled with the ﬁrst byte not equal to 0xFF If the receiver has no more data to send it sets MISO to logic high i e all bytes transmitted decode to 0xFF An eﬃcient parser in the host will ignore all 0xFF bytes which are not pa...

Page 37: ...eiver is connected to a USB host USB suspend mode is not supported USB bus powered mode is not supported It is important to connect V_USB to ground and leave data lines open when the USB interface is not used in an application The voltage range for V_USB is speciﬁed from 3 0 V to 3 6 V which diﬀers slightly from the speciﬁcation for VCC The boot screen is retransmitted on the USB port after enumer...

Page 38: ...only pin with an internal pull up resistor Driving RESET_N low for at least 100 ms will trigger a cold start The RESET_N pin will delete all information and trigger a cold start It should only be used as a recovery option 3 7 3 SAFEBOOT_N The ZED F9H provides a SAFEBOOT_N pin that is used to command the receiver safe boot mode If this pin is low at power up the receiver starts in safe boot mode an...

Page 39: ...rest of the port conﬁguration is applied if valid The acknowledge message does not indicate if the TX READY conﬁguration is successfully set it only indicates the successful conﬁguration of the port To validate successful conﬁguration of the TX_READY pin the port conﬁguration should be read back and the settings of TX READY feature veriﬁed will be set to disabled all zero if the settings are inval...

Page 40: ... GEOFENCE PIN conﬁguration item refers to a PIO and not a physical device pin The PIO number must be set so that it is mapped to the assigned geofence state device pin The ZED F9H high precision receiver is assigned PIO3 that is assigned to module pin 19 3 7 8 RTK_STAT interface The ZED F9H provides an RTK_STAT pin that provides an indication of the RTK positioning status It can be used to conﬁrm ...

Page 41: ... to enable and monitor each feature Figure 21 ZED F9H antenna supervisor The bias t inductor must be chosen for multi band operation a value of 47 nH 5 is required for our recommended Murata part with the current limited below its 300 mA rating See Antenna bias section for additional information Circuit shows buﬀer U4 Buﬀer is not strictly necessary when supplied from VCC It is only required when ...

Page 42: ...o be pulled low if shorted Start up message at power up if conﬁguration is stored GNTXT 01 01 02 ANTSUPERV AC SD 37 GNTXT 01 01 02 ANTSTATUS INIT 3B GNTXT 01 01 02 ANTSTATUS OK 25 ANTSUPERV AC SD Antenna control and short detection activated Then if shorted ANT_SHORT_N pulled low UBX MON RF in u center Message View Antenna status SHORT Antenna power status ON Antenna power control power down when ...

Page 43: ... center Message View Antenna status OK Antenna power status ON 3 8 4 Antenna open circuit detection ANT_DETECT Enable the antenna open circuit detection by setting the conﬁguration item CFG HW ANT_CFG_OPENDET to true 1 Result UBX MON RF in u center Message View Antenna status OK Antenna power status ON ANT_OFF active high therefore PIO is low to enable external antenna ANT_SHORT_N active low there...

Page 44: ...orization token 3 9 2 Multiple servers To protect customers against the impact of outages that might be caused by for example maintenance activity u blox runs at least two instances of the AssistNow Online Service on independent servers u blox recommends implementing a fallback mechanism of using another server in case one fails All servers provide the same information which means that assistance ...

Page 45: ...ile network operators to enable AssistNow Online Figure 22 MGA architecture The data returned by the AssistNow Online Service is a sequence of UBX MGA messages starting with an estimate of the current time in the form of a UBX MGA INI TIME_UTC message AssistNow Online supports GPS GLONASS BeiDou Galileo and QZSS Customers may choose to use third party sources of assistance data instead of using th...

Page 46: ...ntrol mechanism for assistance Flow control is activated by setting the CFG NAVSPG ACKAIDING conﬁguration item As a result the receiver will issue an acknowledgment message UBX MGA ACK for each assistance message it successfully receives The host software can examine these acknowledgments to establish whether there were any problems with the data sent to the receiver and deduce by the lack of ackn...

Page 47: ...conds Must be in range 0 to 3600 latency Numeric seconds Optional Typical latency between the time the server receives the request and the time when the assistance data arrives at the u blox receiver The server can use this value to correct the time being transmitted to the client If this value is not provided the server assumes a latency of 0 Must be in range 0 to 3600 ﬁlteronpos no value require...

Page 48: ... and also for timing within its signal processing No matter what nominal frequency the local oscillator has u blox receivers subdivide the oscillator signal to provide a 1 kHz reference clock signal which is used to drive many of the receiver s processes In particular the measurement of satellite signals is arranged to be synchronized with the ticking of this 1 kHz clock signal When the receiver ﬁ...

Page 49: ...ble times are nearly always generated but they may be wrong by a few seconds especially shortly after receiver start Depending on the conﬁguration of the receiver such invalid times may well be output but with ﬂags indicating their state e g the valid ﬂags in UBX NAV PVT u blox receivers employ multiple GNSS system times and or receiver local times in order to support multiple GNSS systems concurr...

Page 50: ... information about time validity conﬁrmation is only available if the confirmedAvai bit in the UBX NAV PVT message is set validDate means that the receiver has knowledge of the current date However it must be noted that this date might be wrong for various reasons Only when the confirmedDate ﬂag is set the probability of the incorrect date information drops signiﬁcantly validTime means that the re...

Page 51: ...d variant of UTC time can be speciﬁed using CFG NAVSPG UTCSTANDARD conﬁguration item 3 10 7 Leap seconds Occasionally it is decided by one of the international time keeping bodies that due to the slightly uneven spin rate of the Earth UTC has moved suﬃciently out of alignment with mean solar time i e the Sun no longer appears directly overhead at 0 longitude at midday A leap second is therefore an...

Page 52: ... L1C A signals are available and for receivers with earlier ﬁrmware versions the receiver establishes the date by assuming that all week numbers must be at least as large as a reference rollover week number This reference rollover week number is hard coded at compile time and is normally set a few weeks before the software is completed but it can be overridden by CFG NAVSPG WKNROLLOVER conﬁguratio...

Page 53: ...a reference timing source To get the best timing accuracy with the antenna a ﬁxed and accurate position is needed If relative time accuracy between multiple receivers is required do not mix receivers of diﬀerent product families If this is required the receivers must be calibrated accordingly by setting cable delay and user delay The recommended conﬁguration when using the UBX TIM TP message is to...

Page 54: ...abled NTSC if BeiDou is enabled and ﬁnally European if Galileo is enabled The receiver will assume that an input time pulse uses the same GNSS time base as speciﬁed for the time pulse output So if the user selects GLONASS time for time pulse output any time pulse input must also be aligned to GLONASS time or to the separately chosen variant of UTC Where UTC is selected for time pulse output any GN...

Page 55: ...ignal Only used if the corresponding item is set to use another setting in locked mode user delay The cable delay from the receiver to the user device plus signal delay of any user application lock to GNSS freq If this item is set uses the frequency gained from the GNSS signal information rather than the local oscillator s frequency locked other setting If this item is set the alternative setting ...

Page 56: ...guration group The UTC standard can be set in the CFG NAVSPG conﬁguration group The delay ﬁgures deﬁned with CFG TP are also applied to the results output in the UBX TIM TM2 message A UBX TIM TM2 message is output at the next epoch if The UBX TIM TM2 message is enabled and A rising or falling edge was triggered since last epoch on one of the EXTINT channels The UBX TIM TM2 messages includes the ti...

Page 57: ...table below gives an overview about possible threads and which functionality is available to detect and or mitigate it Threat u blox solution Over air signal integrity Spooﬁng detection mitigation Jamming detection mitigation GNSS receiver integrity Secure boot Secure ﬁrmware update Table 23 u blox security options 3 12 1 Spooﬁng detection monitoring Spooﬁng is the process whereby someone tries to...

Page 58: ...ce monitor ITFM broadband interference monitoring The ﬁeld flags of the UBX MON RF message can be used as an indicator for both broadband and continuous wave CW jammers interference It is independent of the CW only jamming indicator described in Jamming interference indicator above This monitor reports whether jamming has been detected or suspected by the receiver The receiver monitors the backgro...

Page 59: ...m subframe but other GNSS data structures might use diﬀerent terms for example GLONASS uses strings and Galileo uses pages 3 13 1 1 Parsing navigation data subframes Each UBX RXM SFRBX message contains a subframe of data bits appropriate for the relevant GNSS delivered in a number of 32 bit words as indicated by numWords ﬁeld Due to the variation in data structure between diﬀerent GNSS the most im...

Page 60: ...follows 3 13 1 2 1 GPS L1C A For GPS L1C A signals there is a fairly straightforward mapping between the reported subframe and the structure of subframe and words described in the GPS ICD Each subframe comprises ten data words which are reported in the same order they are received Each word is arranged as follows Figure 27 GPS L1C A subframe word 3 13 1 2 2 GPS L2C For GPS L2C signals each reporte...

Page 61: ...r and bit 85 is the idle chip which should always have a value of zero The meaning of other bits varies with string and frame number The fourth and ﬁnal 32 bit word in the UBX RXM SFRBX message contains frame and superframe numbers where available These values are not actually transmitted by the satellites but are deduced by the receiver and are included to aid decoding of the transmitted data How...

Page 62: ...escribed in the BeiDou ICD Each subframe comprises ten data words which are reported in the same order they are received Each word is arranged as follows Figure 30 BeiDou subframe word Note that as the BeiDou data words only comprise 30 bits the 2 most signiﬁcant bits in each word reported by UBX RXM SFRBX are padding and should be ignored 3 13 1 5 Galileo The Galileo E1 B and E5b in phase signals...

Page 63: ... subframe contains a pair of I NAV pages as described in the Galileo ICD Galileo pages can either be Nominal or Alert pages For Galileo Nominal pages the eight words are arranged as follows Figure 31 Galileo E1 B subframe words UBX 19030120 R04 3 Receiver functionality Page 63 of 101 C1 Public ...

Page 64: ... by the Galileo ICD 3 13 1 5 2 Galileo E5b For the Galileo E5b in phase signal data component each reported subframe contains a pair of I NAV pages as described in the Galileo ICD Galileo pages can either be Nominal or Alert pages For Nominal pages the eight words are arranged as follows Figure 32 Galileo E5b subframe words UBX 19030120 R04 3 Receiver functionality Page 64 of 101 C1 Public ...

Page 65: ...cal to that of GPS L2C Similarly the structure of the data delivered by the QZSS L1S signal is eﬀectively identical to that of SBAS L1C A 3 13 1 8 Summary The following table gives a summary of the diﬀerent data message formats reported by the UBX RXM SFRBX message GNSS Signal gnssId sigId numWords period GPS L1C A 0 0 10 6s GPS L2CL 0 3 10 12s GPS L2CM 0 4 10 12s SBAS L1C A 1 0 9 1s Galileo E1 B ...

Page 66: ... start In hot start mode the receiver was powered down only for a short time 4 hours or less so that its ephemeris is still valid Since the receiver does not need to download ephemeris again this is the fastest startup method Using the UBX CFG RST message you can force the receiver to reset and clear data in order to see the eﬀects of maintaining losing such data between restarts For this the UBX ...

Page 67: ...m analyzer function which can be visualized together with u center The information can be polled from the receiver by activating the UBX message UBX MON SPAN The feature can be used to identify spurious emissions from other RF sources in the GNSS bands during receiver integration into a customer application It can also be used during normal operation to help in the identiﬁcation of interference so...

Page 68: ...The ZED F9H is an LGA package with the I O on the outside edge and central ground pads Figure 34 ZED F9H pin assignment Pin no Name I O Description 1 GND Ground 2 RF_IN I RF input 3 GND Ground 4 ANT_DETECT I Active antenna detect default active high 5 ANT_OFF O External LNA disable default active high 6 ANT_SHORT_N I Active antenna short detect default active low 7 VCC_RF O Voltage for external LN...

Page 69: ...eserved 31 Reserved Reserved 32 GND Ground 33 VCC I Voltage supply 34 VCC I Voltage supply 35 Reserved Reserved 36 V_BCKP I Backup supply voltage 37 GND Ground 38 V_USB I USB supply 39 USB_DM I O USB data 40 USB_DP I O USB data 41 GND Ground 42 TXD SPI_MISO O Host UART output if D_SEL 1 or open SPI_MISO if D_SEL 0 43 RXD SPI_MOSI I Host UART input if D_SEL 1 or open SPI_MOSI if D_SEL 0 44 SDA SPI_...

Page 70: ...sistance greater than 0 2 Ω to the VCC supply as it will generate input voltage noise due to dynamic current conditions For the ZED F9H module the equipment must be supplied by an external limited power source in compliance with the clause 2 5 of the standard IEC 60950 1 4 2 2 V_BCKP Backup supply voltage The V_BCKP pin can be used to provide power to maintain the real time clock RTC and battery b...

Page 71: ...all relevant data to be saved to allow a hot or warm start 4 2 3 ZED F9H power supply The ZED F9H requires a low noise low dropout voltage and a very low source impedance power supply of 3 3 V typically No inductors or ferrite beads should be used from LDO to the module VCC pin The peak currents need to be taken into account for the source supplying the LDO for the module A power supply fed by 5 V...

Page 72: ...enna bias is required see ZED F9H antenna bias section The host interface typically supplies the RTCM messages required for RTK operation 4 4 Antenna The ZED F9H requires an active antenna with integral LNA to ensure good performance under nominal signal reception When implementing a custom antenna installation it is recommended that an OEM active antenna module be used that meets our speciﬁcation...

Page 73: ...ns max at each GNSS system bandwidth Note Inter signal requirement 50 ns max EMI immunity out of band 9 30 V m Out of band rejection 40 dB typ ESD circuit protection 15 kV human body model air discharge Table 27 Antenna speciﬁcations for ZED F9H modules The antenna system should include ﬁltering to ensure adequate protection from nearby transmitters Take care in the selection of antennas placed cl...

Page 74: ...igh impedance 500 Ω at L band frequencies The recommended bias t inductor Murata LQG15HS47NJ02 has a maximum current capacity of 300 mA Hence the current is limited to 70 mA at 3 3V using an active limiter in the recommended circuit shown in Figure 39 below A 10 Ω resistor R2 is provided to measure the current This resistor power rating must be chosen to ensure reliability in the chosen circuit de...

Page 75: ... is not used the important points covered below need to be taken into account Figure 40 ZED F9H VCC_RF antenna bias The bias t inductor and current limiting resistor must be selected to be reliable with a short circuit on the antenna feed if no active current limiter is used Our recommended part has a limit of 300 mA A part with a higher current capability will be needed if the short circuit curre...

Page 76: ...ias 4 5 EOS ESD precautions To avoid overstress damage during production or in the ﬁeld it is essential to observe strict EOS ESD EMI handling and protection measures To prevent overstress damage at the RF_IN of your receiver never exceed the maximum input power as speciﬁed in the applicable data sheet 1 When integrating GNSS receivers into wireless systems pay special attention to electromagnetic...

Page 77: ...urce in compliance with the clause 2 5 of the standard IEC 60950 1 In addition to external limited power source only Separated or Safety Extra Low Voltage SELV circuits are to be connected to the module including interfaces and antennas For more information about SELV circuits see section 2 2 in Safety standard IEC 60950 1 4 6 Electromagnetic interference on I O lines Any I O signal line with a le...

Page 78: ...to the GNSS band at levels much higher than the GNSS signal itself One reason is that the frequency band above 1 GHz is not well regulated with regards to EMI and even if permitted signal levels are much higher than GNSS signal power Notably all types of digital equipment such as PCs digital cameras LCD screens etc tend to emit a broad frequency spectrum up to several GHz of frequency Also wireles...

Page 79: ...sitive parts of the receiver chain including the antenna itself When deﬁning a GNSS receiver layout the placement of the antenna with respect to the receiver as well as grounding shielding and interference from other digital devices are crucial issues and need to be considered very carefully Signal loss on the RF connection from antenna to receiver input must be minimized as much as possible Hence...

Page 80: ...ZED F9H module packages are provided in this section These are recommendations only and not speciﬁcations The exact copper solder and paste mask geometries distances stencil thickness and solder paste volumes must be adapted to the speciﬁc production processes e g soldering etc of the customer Refer to the applicable data sheet 1 for the mechanical dimensions 4 7 3 1 Footprint Figure 44 ZED F9H su...

Page 81: ...FR 4 PCB material with a dielectric permittivity of for example 4 7 the trace width for the 50 Ω line impedance can be calculated A grounded co planar RF trace is recommended as it provides the maximum shielding from noise with adequate vias to the ground layer The RF trace must be shielded by vias to ground along the entire length of the trace and the ZED F9H RF_IN pad should be surrounded by via...

Page 82: ...PCB A solid ground layer ﬁll on the top layer of the PCB is recommended This is shown in the ﬁgure below Figure 47 Top layer ﬁll and vias 4 7 4 3 VCC pads The VCC pads for the ZED F9H high precision receiver must have as low impedance as possible with large vias to the lower power layer of the PCB The VCC pads need a large combined pad and the de coupling capacitors must be placed as close as poss...

Page 83: ...e Design chapter for more information on the power supply requirements Allow all I O to Float High impedance High Z when VCC is not applied 4 8 2 Backup battery Check backup supply requirements and schematic For achieving a minimal time to ﬁrst ﬁx TTFF after a power down warm starts hot starts make sure to connect a backup battery to V_BCKP Verify that your battery backup supply can provide the ba...

Page 84: ...on when pre charged antennas are soldered to the GNSS receiver board In such cases use of external protection in front of RF_IN is mandatory to avoid device destruction ESD discharge cannot be avoided during assembly and or ﬁeld use Note that SAW ﬁlters are susceptible to ESD damage To provide additional robustness an ESD protection diode may be placed at the antenna RF connector to GND 4 8 4 Ante...

Page 85: ...m start in your application connect a backup battery to V_BCKP Antenna bias is required see ZED F9H antenna bias section 4 8 7 Layout design in guideline Is the receiver placed away from heat sources Is the receiver placed away from air cooling sources Is the receiver shielded by a cover case to prevent the eﬀects of air currents and rapid environmental temperature changes Is the receiver placed a...

Page 86: ...antenna area is touched in non ESD protected work area implement proper ESD protection measures in the design When soldering RF connectors and patch antennas to the receiver s RF pin make sure to use an ESD safe soldering iron tip 5 2 Soldering Soldering paste Use of no clean soldering paste is highly recommended as it does not require cleaning after the soldering process The paste in the example ...

Page 87: ...rature rises above the liquidus temperature of 217 C Avoid a sudden rise in temperature as the slump of the paste could become worse Limit time above 217 C liquidus temperature 40 60 s Peak reﬂow temperature 245 C Cooling phase A controlled cooling prevents negative metallurgical eﬀects of the solder solder becomes more brittle and possible mechanical tensions in the products Controlled cooling he...

Page 88: ...or a single ﬁnal upright reﬂow cycle A module placed on the underside of the board may detach during a reﬂow soldering cycle due to lack of adhesion The module can also tolerate an additional reﬂow cycle for re work purposes Wave soldering Base boards with combined through hole technology THT components and surface mount technology SMT devices require wave soldering to solder the THT components On...

Page 89: ...irectly onto the EMI covers Use of ultrasonic processes Some components on the module are sensitive to ultrasonic waves Use of any ultrasonic processes cleaning welding etc may cause damage to the GNSS receiver u blox oﬀers no warranty against damages to the module caused by ultrasonic processes 5 3 Tapes Figure 50 shows the feed direction and illustrates the orientation of the ZED F9Hs on the tap...

Page 90: ...n Guide 3 5 5 Moisture sensitivity levels The moisture sensitivity level MSL for ZED F9H is speciﬁed in the table below Package MSL level LGA 4 Table 28 MSL level For MSL standard see IPC JEDEC J STD 020 which can be downloaded from www jedec org For more information regarding moisture sensitivity levels labeling storage and drying see the u blox Package Information Guide 3 UBX 19030120 R04 5 Prod...

Page 91: ...C Inter integrated circuit bus IEC International Electrotechnical Commission ITRF International Terrestrial Reference Frame MB Moving base MSM Multiple signal messages NTRIP Networked transport of RTCM via internet protocol OSR Observation Space Representation PCB Printed circuit board QZSS Quasi Zenith Satellite System RF Radio frequency RTCM Radio Technical Commission for Maritime Services RTK R...

Page 92: ...ceiver status monitoring Using the UBX CFG VALSET conﬁguration window in the u center Message View set the UART1 interface for the correct host baud rate 1 Select Group CFG UART1 Key name CFG UART1 BAUDRATE See Figure 52 Figure 52 u center UBX CFG VALSET message view 2 Select Add to List it will appear in the table below UBX 19030120 R04 Appendix Page 92 of 101 C1 Public ...

Page 93: ...g or reading the current value See Figure 53 Figure 53 Example u center UBX CFG VALSET message view when selecting a conﬁguration item 4 Next add the value for example 230400 into the Value window that appears below the list See Figure 54 UBX 19030120 R04 Appendix Page 93 of 101 C1 Public ...

Page 94: ...over u center UBX CFG VALSET message view for setting the CFG UART1 BAUDRATE conﬁguration item that controls the baudrate of UART1 Next some UBX example messages are conﬁgured to enable viewing the rover status 1 Select Group CFG MSGOUT Key name CFG MSGOUT UBX and select the UART1 required messages 2 Add each message to the list setting the value of each to 1 UBX 19030120 R04 Appendix Page 94 of 1...

Page 95: ...over has started to receive valid RTCM messages it will transition through 3D Fix to 3D DGNSS to Float and ultimately into Fixed mode This will occur when it is receiving all required RTCM messages including RTCM 4072 0 under suﬃcient signal conditions The ZED F9H will not output any position information in u center or in any messages C Stacked patch antenna A typical low cost L1 L2 antenna is bas...

Page 96: ...se center variation owing to the size and shape of the ground plane coupled with the eﬀects of the adjacent structures A phase center variation calibration is required to check the average phase center A successful calibration can be made if the phase variation of a speciﬁc antenna is repeatable between samples To obtain the best antenna performance in an automotive application mount the antenna i...

Page 97: ...pass ﬁltering An example of the measured frequency characteristics of a low cost L1 L2 antenna is shown below Figure 58 Low cost L1 L2 antenna band characteristics The u blox low cost antenna design is shown below followed by some examples of antennas from other manufacturers which can be used with ZED F9H UBX 19030120 R04 Appendix Page 97 of 101 C1 Public ...

Page 98: ...enna There are antenna types that can be used without a substantial ground plane such as a helical antenna type This is a useful solution where space is limited for example for drone or small form factor applications UBX 19030120 R04 Appendix Page 98 of 101 C1 Public ...

Page 99: ...3 3 Packaging information for u blox chips modules and antennas UBX 14001652 4 ZED F9H Moving Base application note UBX 19033958 For regular updates to u blox documentation and to receive product change notiﬁcations please register on our homepage https www u blox com UBX 19030120 R04 Related documents Page 99 of 101 C1 Public ...

Page 100: ...ed footprint and paste mask images Improved sections Communications interfaces and Security Module type number updated R03 02 Jun 2020 dama HDG 1 13 update ZED F9H 01B 00 update R04 18 Jun 2021 dama Maintenance update Overall text improvement and typo corrections plus 3 1 7 1 platform settings updated 3 2 SBAS section updated 3 6 4 USB interface section updated 3 9 MGA section updated 4 7 2 Therma...

Page 101: ... u blox com E mail info_cn u blox com Support support_cn u blox com Regional Oﬃce China Chongqing Phone 86 23 6815 1588 E mail info_cn u blox com Support support_cn u blox com Regional Oﬃce China Shanghai Phone 86 21 6090 4832 E mail info_cn u blox com Support support_cn u blox com Regional Oﬃce China Shenzhen Phone 86 755 8627 1083 E mail info_cn u blox com Support support_cn u blox com Regional ...

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