C93-M8E - User Guide
UBX-15031067 - R03
Early Production Information
Setting up
Page 9 of 21
4.2
Recommended Configuration
For an optimum navigation performance, the recommended configuration is as follows:
•
Navigation Rate: The default DR/GNSS-fused navigation solution update rate of 1 Hz is
recommended. You can set the navigation update rate with the message UBX-CFG-RATE. (In this
mode navigation rates up to 20 Hz are also available from the UBX-HNR-PVT message.)
•
Signal Attenuation Compensation: For installations where the signals are attenuated due to the
C93-M8E placement, the signal attenuation compensation feature can be used to restore normal
performance. There are three possible modes:
o
Disabled: no signal attenuation compensation is performed
o
Automatic: the receiver automatically estimates and compensates for the signal attenuation
o
Configured: the receiver compensates for the signal attenuation based on a configured value
•
These modes can be selected using UBX-CFG-NAVX5 message.
☞
In the case of the "configured" mode, the user should input the maximum C/N0 observed in a
clear-sky environment, excluding any outliers or unusually high values. The configured value can
have a large impact on the receiver performance, so should be chosen carefully.
☞
For more information, refer to the
u-blox 8 / u-blox M8 Receiver Description including Protocol
Specification [5].
4.2.1
Serial port default configuration
Parameter
Description
Remark
UART Port 1, Input
UBX and NMEA protocol at 9,600 Bd
UART Port 1, Output
UBX and NMEA protocol at 9,600 Bd
Only NMEA messages are activated
USB, Input
UBX and NMEA protocol
USB, Output
UBX and NMEA protocol
Only NMEA messages are activated
Table 3: Default configuration
4.2.2
UDR Receiver Operation
By default, C93-M8E is ready to operate in UDR navigation mode.
☞
The statuses of different modes of UDR receiver are output in the UBX-ESF-STATUS message.
4.2.2.1
Initialization Mode
The purpose of the Initialization phase is to estimate all unknown parameters that are required for
achieving fusion. In this case, the required sensor calibration status shows NOT CALIBRATED (see
Figure 4). Note that the initialization phase requires good GNSS signals conditions as well as periods
during which vehicle is stationary and moving (including turns). Once all required initialization steps
are achieved, fusion mode is triggered and the calibration phase begins.
