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ZED-F9K - Integration manual

Figure 6: Vehicle attitude output

The order of the sequence of rotations around the navigation axes deﬁning the vehicle attitude
matrix in terms of vehicle attitude angles is illustrated below:

UBX-20046189 - R01

3 Receiver functionality

Page 29 of 105

C1-Public

Early production information

Summary of Contents for ZED-F9K

Page 1: ...dule provides lane accurate positioning under challenging conditions and decimeter level accuracy for automotive mass markets The ZED F9K module is ideal for ADAS V2X and head up displays It provides...

Page 2: ...art be subject to intellectual property rights Reproduction use modi cation or disclosure to third parties of this document or any part thereof without the express permission of u blox is strictly pro...

Page 3: ...ning ADR 15 3 2 1 Introduction 15 3 2 2 Solution type 16 3 2 3 Installation con guration 16 3 2 4 Sensor con guration 19 3 2 5 ADR system con guration 22 3 2 6 Operation 22 3 2 7 Priority navigation m...

Page 4: ...1 Spoo ng detection monitoring 61 3 10 2 Jamming interference indicator 62 3 10 3 GNSS receiver integrity 63 3 11 u blox protocol feature descriptions 63 3 11 1 Broadcast navigation data 63 3 12 Forci...

Page 5: ...9 5 Ground pads 90 4 9 6 Schematic design 90 4 9 7 Layout design in guideline 90 5 Product handling 91 5 1 ESD handling precautions 91 5 2 Soldering 91 5 3 Tapes 94 5 4 Reels 95 5 5 Moisture sensitiv...

Page 6: ...Most of the following sub sections should be familiar to existing users of u blox positioning products however some changes are introduced owing to the new con guration messages The sections from Des...

Page 7: ...ule provides accurate location services to the increasing number of intelligent electronic control units ECU such as telematics control unit navigation system infotainment and V2x safety systems In pr...

Page 8: ...time kinematic u blox ZED F9K high precision receiver takes GNSS precision to the next level Delivers accuracy down to the decimeter level Fast time to rst x and robust performance with multi band mu...

Page 9: ...age elds reference section in the ZED F9K Interface description 2 Con guration interface settings are held in a database consisting of separate con guration items An item is made up of a pair consisti...

Page 10: ...PI 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...

Page 11: ...avigation epoch The rates of the output messages are individually con gurable per communication interface See the CFG MSGOUT con guration group Some messages such as UBX MON VER are non periodic and w...

Page 12: ...coordinates in the correction source reference frame This may need to be taken into account when using the RTK derived position See the Reference frames section in the Appendix for more information 3...

Page 13: ...credentials such as user name and password from the service provider The u center NTRIP client then forwards the RTCM 3 3 corrections to a ZED F9K receiver connected to the local u center application...

Page 14: ...000 30 20 Altitude and velocity Medium Table 6 Dynamic platform model details Applying dynamic platform models designed for high acceleration systems e g airborne 2g can result in a higher standard de...

Page 15: ...on by multipath The receiver trusts such signals less in order to preserve the quality of the position solution in poor signal environments This feature can result in degraded performance in situation...

Page 16: ...n order to compensate for the position o set advanced con gurations can be applied Contact u blox support for more information on advanced con gurations 3 2 3 1 IMU mount alignment This section descri...

Page 17: ...nly if they were initialized see the next section If automatic IMU mount alignment is re activated alignment is pursued by starting from the state where deactivation happened 3 2 3 1 2 User de ned IMU...

Page 18: ...a single rotation around the installation frame z axis that is with no IMU mount roll and IMU mount pitch rotation CFG SFIMU IMU_MNTALG_PITCH The IMU mount pitch angle pitch corresponds to the rotatio...

Page 19: ...s UBX ESF MEAS data type 10 shall be used for single tick odometer data and UBX ESF MEAS data type 11 shall be used for speed odometer data See the Interface description for more information By defaul...

Page 20: ...e the latency of the wheel tick speed data CFG SFODO LATENCY should be given as accurately as possible to within at least 10 ms If not provided the wheel tick speed data latency is assumed zero More d...

Page 21: ...e sensor measurement generation time is to have the GNSS receiver assume the time of reception of the rst byte of the UBX ESF MEAS message minus the constant con gured latency in CFG SFODO LATENCY to...

Page 22: ...ags can be encoded in di erent data types signed unsigned varying number of bytes which might vary across sensor types For example if the IMU raw packet s time tag eld is encoded into an unsigned long...

Page 23: ...lized the status of the IMU initialization imuInitStatus is agged as 1 INITIALIZING in the UBX ESF STATUS message Moreover the required sensor calibration statuses calibStatus are agged as 0 NOT CALIB...

Page 24: ...to 1 CALIBRATING As soon as the calibration reaches a status where optimal fusion performance can be expected UBX ESF STATUS calibStatus is set to 2 3 CALIBRATED 3 2 6 1 2 1 UDR fallback mode In case...

Page 25: ...s 2 INITIALIZED the IMU mount alignment status UBX ESF ALG status shows 3 COARSE ALIGNED Wheel tick sensor initialization Drive for at least 500 meters at a minimum speed of 30 km h To shorten this ca...

Page 26: ...shed angles yaw pitch and roll correspond to the current estimated values but are not yet applied for rotating the IMU observations IMU mount angle initialization complete After initialization the UBX...

Page 27: ...MU mount pitch misalignment angles either due to a wrong initialization or a change in the physical mounting of the device the UBX ESF ALG error bit 0 is set to 1 IMU mount yaw angle error If the auto...

Page 28: ...z axis completes the right handed reference system by pointing down 3 2 6 4 3 Vehicle position and velocity output The position and velocity information is output in several messages for example UBX...

Page 29: ...ut The order of the sequence of rotations around the navigation axes de ning the vehicle attitude matrix in terms of vehicle attitude angles is illustrated below UBX 20046189 R01 3 Receiver functional...

Page 30: ...information that is directly compensated by the fusion lter This implies that depending on the solution type and the sensor availability dynamics along some axes of the vehicle frame might not be ava...

Page 31: ...e data eld are accelerometer gyroscope and temperature readings The data types are the same as described in the Sensor Data Types section The measurements are made at a xed rate The sampling rate or o...

Page 32: ...igh 0 30 Hz Con gurable NMEA Standard VTG Course over ground and ground speed High 0 30 Hz Con gurable NMEA Standard GNS GNSS x data High 0 30 Hz Con gurable NMEA Standard GGA Global positioning syste...

Page 33: ...3 Geofencing 3 3 1 Introduction Figure 8 Geofence The geofencing feature allows for the con guration of up to four circular areas geofences on the Earth s surface The receiver will then evaluate for e...

Page 34: ...rements monitor status information and con gure the receiver A protocol e g UBX NMEA can be assigned to several ports simultaneously each con gured with individual settings e g baud rate message rates...

Page 35: ...be used as a host interface for con guration monitoring and control UART2 is available as an optional stand alone RTCM interface and cannot be used as a host interface The UART RX interface will be d...

Page 36: ...e load on the I2C lines additional external pull up resistors may be necessary To use the I2C interface D_SEL pin must be left open In designs where the host uses the same I2C bus to communicate with...

Page 37: ...or 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...

Page 38: ...does not provide any write access except for writing UBX and NMEA messages to the receiver such as con guration or aiding data Therefore the register set mentioned in the section Read access is not w...

Page 39: ...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 rst byte not equal to 0x...

Page 40: ...o 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 appli...

Page 41: ...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 op...

Page 42: ...are not in use see UBX MON HW3 in the ZED F9K Interface Description 2 for a list of the PIOs and their mapping Each TX_READY pin is exclusively associated to one port and cannot be shared If PIO is in...

Page 43: ...dicate whether the vehicle is moving forwards or backwards By default the DIR pin polarity is automatically initialized once the vehicle has reached required minimum speed of 30 km h The DIR pin polar...

Page 44: ...mode has been achieved Otherwise the pin level is high The RTK_STAT pin status can be mapped to the carrSoln eld of the UBX NAV PVT and interpreted as follows An active low pin level indicates that R...

Page 45: ...7R 0402 10N 10 16V TYCO 0 25PF PESD0402 140 55 125C ESD protection diode on RF trace Table 17 Recommended components for antenna supervisor 3 6 1 Antenna voltage control ANT_OFF Antenna status as repo...

Page 46: ...lt GNTXT 01 01 02 ANTSTATUS SHORT 73 ANT_OFF active high therefore still low still enabled as auto power down is not enabled After a detected antenna short the reported antenna status will keep on bei...

Page 47: ...erefore PIO is high PIO pull up enabled to be pulled low if antenna not detected Start up message at power up if con guration is stored GNTXT 01 01 02 ANTSUPERV AC SD OD PDoS SR 15 GNTXT 01 01 02 ANTS...

Page 48: ...y improve time to rst x TTFF There are several ways in which a u blox receiver can retain useful data while it is powered down including Battery backed RAM The receiver can be supplied with su cient p...

Page 49: ...m that contains the receiver can connect to the internet download the data from the AssistNow Online Service and forward it on to the receiver In the simplest case that may involve fetching the data f...

Page 50: ...tance data being sent and the nature of the communications link e g baud rate of serial link u blox recommends that when customers are developing their host software they start by sending all assistan...

Page 51: ...String Optional A comma separated list of u blox gnssId svId pairs The ephemeris data returned to the client will only contain data for the listed satellites Table 18 AssistNow Online parameter keys...

Page 52: ...ked The following outlines the suggested shutdown procedure when using the save on shutdown feature With the UBX CFG RST message the host commands the u blox receiver to stop specifying reset mode 0x0...

Page 53: ...navigation epoch If the navigation solution attempt is successful one of the results is an accurate measurement of time in the time base of the chosen GNSS system called GNSS system time The di erenc...

Page 54: ...d to use the iTOW eld for any other purpose The original designers of GPS chose to express time date as an integer week number starting with the rst full week in January 1980 and a time of week often...

Page 55: ...is normally reported with two decimal places e g 124923 52 Although compatibility mode selected using CFG NMEA COMPAT requires three decimal places rounding to the nearest hundredth of a second remain...

Page 56: ...time within their data message In most cases this is a time of week often abbreviated to TOW which indicates the elapsed number of seconds since the start of the week midnight Saturday Sunday In order...

Page 57: ...eek number appropriately when supplying u blox receivers with simulated signals especially when the scenarios are in the past 3 9 10 Time pulse 3 9 10 1 Introduction u blox receivers include a time pu...

Page 58: ...ample GPS supports a variant of UTC as de ned by the US National Observatory while BeiDou uses UTC from the National Time Service Center China NTSC While the di erent UTC variants are normally closely...

Page 59: ...s frequency or period length ratio type Determines whether the time pulse length is interpreted as length us or pulse ratio antenna cable delay Signal delay due to the cable between the antenna and th...

Page 60: ...can be used to provide an accurate measurement of the time at which a pulse was detected on the external interrupt pin The reference time can be chosen by setting the time source parameter to UTC GPS...

Page 61: ...about possible threads and which functionality is available to detect and or mitigate it Threat u blox solution Over air signal integrity Spoo ng detection mitigation Jamming detection mitigation GNSS...

Page 62: ...broadband interference monitoring The eld 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 ja...

Page 63: ...tion layer For more information on the con guration layers including the order of priority they are applied in see the ZED F9K Interface description 2 The con guration lockdown set on a con guration l...

Page 64: ...X RXM SFRBX messages are only generated when complete subframes are detected by the receiver and all appropriate parity checks have passed Where the parity checking algorithm requires data to be inver...

Page 65: ...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 nal 32 bit word in the UBX RXM SFRBX message contains frame and sup...

Page 66: ...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 27 BeiDou subframe word Note that as the BeiDou data wo...

Page 67: ...ns 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 28 Galileo E1 B sub...

Page 68: ...ted by the Galileo ICD 3 11 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...

Page 69: ...S For SBAS L1C A signals each reported subframe contains eight 32 bit data words to deliver the 250 bits transmitted in each SBAS data block The eight words are arranged as follows UBX 20046189 R01 3...

Page 70: ...RXM SFRBX message GNSS Signal gnssId sigId numWords period GPS L1C A 0 0 10 6s SBAS L1C A 1 0 8 1s GPS L2CL 0 3 10 12s GPS L2CM 0 4 10 12s Galileo E1 C 2 0 8 2s Galileo E1 B 2 1 8 2s Galileo E5 bl 2 5...

Page 71: ...od Using the UBX CFG RST message you can force the receiver to reset and clear data in order to see the e ects of maintaining losing such data between restarts For this the UBX CFG RST message o ers t...

Page 72: ...d in Table 23 The ZED F9K is an LGA package with the I O on the outside edge and central ground pads Figure 31 ZED F9K pin assignment Pin no Name I O Description 1 GND Ground 2 RF_IN I RF input 3 GND...

Page 73: ...und 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 power input 39 USB_DM I O USB data 40 USB_DP I O USB data 41 GND...

Page 74: ...he ZED F9K 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...

Page 75: ...quires 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 nee...

Page 76: ...ttery to V_BCKP If USB is not used connect V_USB to ground Ensure an optimal ground connection to all ground pins of the ZED F9K GNSS module If antenna bias is required see ZED F9K antenna bias sectio...

Page 77: ...IODE FAIRCHILD BZX84 SOT23 6V2 0 2A D2 VOLTAGE REGULATOR DIODE FAIRCHILD BZX84 SOT23 6V2 0 2A O1 OPTOCOUPLER LVTTL LVCMOS COMPATIBLE AVAGO HCPL 070L 000E SO8 O2 OPTOCOUPLER LVTTL LVCMOS COMPATIBLE AVA...

Page 78: ...dB L1 band antenna gain 4 1559 1606 MHz 3 dBic typ L2 E5b band antenna gain 4 1197 1249 MHz 2 dBic typ Polarization RHCP Axial ratio 2 dB max at Zenith Phase center variation 10 mm over elevation azim...

Page 79: ...s t inductor must be chosen for multi band operation a value of 47 nH 5 is recommended for the recommended Murata L part It has a self resonance frequency of 1 GHz and a high impedance 500 at L band f...

Page 80: ...e important points covered below need to be taken into account Figure 38 ZED F9K VCC_RF antenna bias The bias t inductor and current limiting resistor must be selected to be reliable with a short circ...

Page 81: ...tegrating GNSS receivers into wireless systems careful consideration must be given to electromagnetic and voltage susceptibility issues Wireless systems include components which can produce Electrosta...

Page 82: ...ce 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 int...

Page 83: ...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...

Page 84: ...e receiver chain including the antenna itself When de ning a GNSS receiver layout the placement of the antenna with respect to the receiver as well as grounding shielding and interference from other d...

Page 85: ...packages are provided in this section These are recommendations only and not speci cations The exact copper solder and paste mask geometries distances stencil thickness and solder paste volumes must...

Page 86: ...ial with a dielectric permittivity of for example 4 7 the trace width for the 50 line impedance can be calculated A grounded co planar RF trace is recommended as it provides the maximum shielding from...

Page 87: ...round layer ll on the top layer of the PCB is recommended This is shown in the gure below Figure 45 Top layer ll and vias 4 8 4 3 VCC pads The VCC pads for the ZED F9K high precision receiver must hav...

Page 88: ...apter for more information on the power supply requirements Allow all I O to Float High impedance High Z when VCC is not applied 4 9 2 Backup battery Check backup supply requirements and schematic For...

Page 89: ...red 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 eld use Note t...

Page 90: ...pplication connect a backup battery to V_BCKP Antenna bias is required see ZED F9K antenna bias section 4 9 7 Layout design in guideline Is the receiver placed away from heat sources Is the receiver p...

Page 91: ...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 sold...

Page 92: ...ove 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 re ow temperature 245 C C...

Page 93: ...upright re ow cycle A module placed on the underside of the board may detach during a re ow soldering cycle due to lack of adhesion The module can also tolerate an additional re ow cycle for re work p...

Page 94: ...ltrasonic 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 o ers no warranty...

Page 95: ...isture sensitivity levels The moisture sensitivity level MSL for ZED F9K is speci ed in the table below Package MSL level LGA 4 Table 26 MSL level For MSL standard see IPC JEDEC J STD 020 which can be...

Page 96: ...tellite system GPS Global Positioning System GSM Global System for Mobile Communications I2C Inter integrated circuit bus IEC International Electrotechnical Commission IMU Inertial measurement unit IR...

Page 97: ...rrestrial Reference Frame ETRF ITRF is a realization of ITRS done every few years Latest realizations of ITRF are ITRF2008 and ITRF2014 ETRF is a realization of ETRS89 done every few years Latest real...

Page 98: ...oup CFG UART1 Key name CFG UART1 BAUDRATE See Figure 50 Figure 50 u center UBX CFG VALSET message view 2 Select Add to List it will appear in the table below UBX 20046189 R01 Appendix Page 98 of 105 C...

Page 99: ...the current value See Figure 51 Figure 51 Example u center UBX CFG VALSET message view when selecting a con guration item 4 Add the value for example 230400 into the Value window that appears below th...

Page 100: ...ALSET message view for setting the CFG UART1 BAUDRATE con guration item that controls the baudrate of UART1 Next some UBX example messages are con gured to enable viewing the receiver status 1 Select...

Page 101: ...ms for enabling the output of some recommended UBX messages 4 To ensure all the required RTCM messages including most importantly RTCM 1005 are being received regularly examine the UBX RXM RTCM output...

Page 102: ...ixed mode See Figure 55 Figure 55 u center data view with RTK Fixed UBX NAV SOL is shown however it is no longer supported on this platform If using a virtual reference service the receiver must be co...

Page 103: ...20046191 3 Packaging information for u blox chips modules and antennas UBX 14001652 For regular updates to u blox documentation and to receive product change noti cations please register on our homep...

Page 104: ...ion manual Revision history Revision Date Name Status comments R01 06 Nov 2020 ssid Early production information ZED F9K 00B 01 UBX 20046189 R01 Revision history Page 104 of 105 C1 Public Early produc...

Page 105: ...il info_cn u blox com Support support_cn u blox com Regional O ce China Chongqing Phone 86 23 6815 1588 E mail info_cn u blox com Support support_cn u blox com Regional O ce China Shanghai Phone 86 21...

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