u-blox ZED-F9H, Integration Manual

Page: 18 / 101

ZED-F9H - Integration manual
observations have been used. These flags are no longer supported from firmware version
HDG 1.13 onwards.
3.1.6 Legacy configuration interface compatibility
Although there is some backwards compatibility for the legacy UBX-CFG configuration messages,
users are strongly advised to adopt the configuration interface described in this document.
See Legacy UBX-CFG message fields reference section in the applicable interface description [ 2 ].
3.1.7 Navigation configuration
This section presents various configuration options related to the navigation engine. These options
can be configured through CFG-NAVSPG-* configuration keys.
3.1.7.1 Platform settings
u-blox receivers support different dynamic platform models to adjust the navigation engine to
the expected application environment. These platform settings can be changed dynamically
without performing a power cycle or reset. The settings improve the receiver's interpretation of
the measurements and thus provide a more accurate heading output. Setting the receiver to an
unsuitable platform model for the given application environment is likely to result in a loss of receiver
performance and heading accuracy.
The dynamic platform model can be configured through the CFG-NAVSPG-DYNMODEL
configuration item. The supported dynamic platform models and their details can be seen in
Table
7 and Table 8 below.
Platform Description
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 applications with equivalent dynamics to those of a passenger car. Low vertical
acceleration assumed.
At sea Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed.
Sea level assumed.
Airborne <1g Used for applications with a higher dynamic range and greater vertical acceleration than a
passenger car. No 2D position fixes supported.
Airborne <2g Recommended for typical airborne environments. No 2D position fixes supported.
Airborne <4g Only recommended for extremely dynamic environments. No 2D position fixes supported.
Wrist Only recommended for wrist-worn applications. Receiver will filter out arm motion.
Table 7: Dynamic platform models
Platform Max altitude [m] Max horizontal
velocity [m/s] Max vertical velocity
[m/s] Sanity check type Max
position
deviation
Portable 12000 310 50 Altitude and velocity Medium
Stationary 9000 10 6 Altitude and velocity Small
Pedestrian 9000 30 20 Altitude and velocity Small
Automotive 6000 100 15 Altitude and velocity Medium
At sea 500 25 5 Altitude and velocity Medium
Airborne <1g 80000 100 6400 Altitude Large
Airborne <2g 80000 250 10000 Altitude Large
UBX-19030120 - R04 3 Receiver functionality Page 18 of 101
C1-Public