ZED-F9K - Integration manual
3.2.4.2.3 UBX-ESF-MEAS time tagging configuration
The time tag factor can be used to convert the sensor time tags into the required seconds.
It is essential that the time tags used for all UBX-ESF-MEAS data have the same resolution.
ZED-F9K automatically generates UBX-ESF-MEAS messages containing measurements from the
internal IMU using the default time tag resolution of 1 millisecond. If the customer wants to input
odometer data with UBX-ESF-MEAS messages, it is essential that the odometer time tag has a
resolution of 1 millisecond.
ZED-F9K automatically generates UBX-ESF-MEAS messages containing measurements from the
internal IMU. If the customer inputs UBX-ESF-MEAS with odometer data with a different sensor
time tag factor than that used by ZED-F9K for IMU data, it will fail!
The same sensor time-tag (ttag) factor must be used for all UBX-ESF-MEAS data.
The following sensor time tagging settings need to be specified:
•
CFG-SFCORE-SEN_TTAG_FACT:
This parameter can be used to convert the sensor time tags
from their original time unit into the required seconds. It has a resolution of 1 micro second. The
default value is 1000 (1 millisecond).
•
CFG-SFCORE-SEN_TTAG_MAX:
External sensor time tags can be encoded in different data
types (signed/unsigned, varying number of bytes) which might vary across sensor types. For
example, if the IMU raw packet's time-tag field is encoded into an unsigned long integer (4
bytes), the maximum possible time-tag value is
4294967295
(
0xFFFFFFFF
in hexadecimal).
3.2.5 ADR system configuration
3.2.5.1 Enabling/disabling fusion filter
The ADR feature can be enabled and disabled with the
CFG-SFCORE-USE_SF
key. If ADR is disabled,
the receiver outputs a GNSS-only solution. IMU sensor measurements are still available in UBX-ESF-
MEAS and UBX-ESF-RAW messages.
3.2.5.2 Recommended configuration
In general, it is recommended to use the default configuration values in order to achieve optimal ADR
navigation performance.
By default, the navigation solution update rate is 1 Hz. It can be configured with the
CFG-RATE-NAV
key.
At higher navigation rates, it is strongly recommended to check (and maybe reduce)
the number of enabled output messages. CPU load, memory and interface bandwidth
constraints may be a limiting factor.
3.2.6 Operation
This section describes how the ADR receiver operates.
3.2.6.1 Fusion filter modes
The fusion filter operates in different modes which are output in the UBX-ESF-STATUS message.
The table below summarizes the different fusion filter modes with the receiver's associated tasks.
UBX-20046189 - R01
3 Receiver functionality
Page 22 of 105
C1-Public
Early production information
