u-blox ZED-F9P, Integration Manual

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ZED-F9P - Integration manual
UBX-NAV-RELPOSNED:
• The isMoving flag will be set
• The relPosValid flag will be set if the rover managed to get the time-matched observations in
time and process the moving base solution
• The length of the relative position vector and its accuracy will be output
• The heading for the relative position vector and its accuracy will be output
• The relPosHeadingValid flag will be set, unless the length of the relative position vector and/or
its accuracy are not sufficient to reliably derive the heading information
3.1.6 Legacy configuration interface compatibility
There is some backwards-compatibility for the legacy UBX-CFG configuration messages. It is
strongly recommended to adopt the new configuration interface, as the legacy configuration
messages support will be removed in the future.
See Legacy UBX-CFG message fields reference section in the ZED-F9P 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 various configuration groups, such as CFG-NAVSPG-*, CFG-ODO-*, and
CFG-MOT-*.
3.1.7.1 Platform settings
u-blox receivers support different dynamic platform models (see in the table below) 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 position 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 position 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
11 and Table 12 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 11: Dynamic platform models
UBX-18010802 - R08 3 Receiver functionality Page 22 of 110
Early production information