Ublox ZED-F9P, Integration Manual

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ZED-F9P - Integration Manual
UBX-18010802 - R01 1 Overview Page 12 of 64
Objective Specification - Confidential
Configuration item Description
CFG-MSGOUT-
UBX_NAV_SIG_UART1 Output rate of the UBX-NAV-SIG message on port UART1
CFG-MSGOUT-
UBX_NAV_SOL_UART1 Output rate of the UBX-NAV-SOL message on port UART1
CFG-MSGOUT-
UBX_NAV_POSLLH_UART1 Output rate of the UBX-NAV-POSLLH message on port UART1
CFG-MSGOUT-
UBX_NAV_PVT_UART1 Output rate of the UBX-NAV-PVT message on port UART1
CFG-MSGOUT-
UBX_NAV_RELPOSNED_UART1 Output rate of the UBX-NAV-RELPOSNED message on port UART1
CFG-MSGOUT-
UBX_NAV_STATUS_UART1 Output rate of the UBX-NAV-STATUS message on port UART1
CFG-MSGOUT-
UBX_NAV_SVIN_UART1 Output rate of the UBX-NAV-SVIN message on port UART1
CFG-MSGOUT-
UBX_RXM_RTCM_UART1 Output rate of the UBX-RXM-RTCM message on port UART1
Table 5: Configuration items used for recommended UBX output configuration on UART1
1.9.5 Base station: Mode configuration
To set a ZED-F9P as a base station it is necessary to set its coordinates. Once this is done, the ZED-
F9P will operate as a base station and output the configured stream of RTCM messages.
There are two ways to set the base station coordinates. If the coordinates are not known, it can be
set into survey-in mode and the receiver's fix will be calculated. If the coordinates are known, it can
be set directly to fixed mode.
To set the base station into the desired mode, the appropriate configuration items must be set by
using the UBX-CFG-VALSET message. For all for available configuration items, see the CFG-TMODE
configuration group in ZED-F9P Interface Description [
2 ].
To set a base station into survey-in mode (CFG-TMODE-MODE=SURVEY_IN), the relevant
configuration items below need to be set:
Configuration item Description
CFG-TMODE-MODE Receiver mode (Disabled or Survey in or Fixed)
CFG-TMODE-SVIN_MIN_DUR Survey-in minimum duration
CFG-TMODE-SVIN_ACC_LIMIT Survey-in position accuracy limit
Table 6: Configuration items used for setting a base station into survey-in
Both requirements (duration time and accuracy limit) must be met before the base station
completes the survey in process. Once this is done then it will begin to output the base position
message RTCM 1005. The rover will not be able to enter RTK Fixed mode unless it is receiving
RTCM 1005.
To set a base station into fixed mode (CFG-TMODE-MODE=FIXED), the relevant configuration items
below need to be set:
Configuration item Description
CFG-TMODE-MODE Receiver mode (Disabled or Survey in or Fixed)
CFG-TMODE-POS_TYPE Determines whether the ARP position is given in ECEF or LAT/LON/HEIGHT
CFG-TMODE-ECEF_X ECEF X coordinate of the ARP position
CFG-TMODE-ECEF_Y ECEF Y coordinate of the ARP position
CFG-TMODE-ECEF_Z ECEF Z coordinate of the ARP position
CFG-TMODE-LAT Latitude of the ARP position