Ublox ZED-F9R, Integration Manual

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ZED-F9R - Integration manual
Constellation key
CFG-SIGNAL-GPS_ENA Band key
CFG-SIGNAL-GPS_L1CA_ENA Band key
CFG-SIGNAL-GPS_L2C_ENA
Constellation
enabled?
false (0) true (1) true (1) no
true (1) false (0) false (0) no
true (1) false (0) true (1) Unsupported
combination
true (1) true (1) false (0) Unsupported
combination
true (1) true (1) true (1) yes
Table 3: Example of possible values of configuration items for the GPS constellation
3.1.4.4 NMEA high precision mode
ZED-F9R supports NMEA high precision mode. This mode increases precision of the position
output; latitude and longitude will have seven digits after the decimal point, and altitude will have
three digits after the decimal point. By default it is not enabled since it violates the NMEA standard.
NMEA high precision mode cannot be used while in NMEA compatibility mode or when NMEA output
is limited to 82 characters. See configuration item CFG-NMEA-HIGHPREC in ZED-F9R Interface
description [
2 ] for more details.
3.1.5 RTCM corrections
RTCM is a binary data protocol for communication of GNSS correction information. The ZED-F9R
high precision sensor fusion receiver supports RTCM as specified by RTCM 10403.3, Differential
GNSS (Global Navigation Satellite Systems) Services – Version 3 (October 7, 2016).
The RTCM specification is currently at version 3.3 and RTCM version 2 messages are not supported
by this standard.
To modify the RTCM input settings, see the configuration section in the u-blox ZED-F9R Interface
description [
2 ].
Users need to be aware of the datum used by the correction source. The receiver position will
provide 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.
3.1.5.1 List of supported RTCM input messages
Message type Description
RTCM 1001 L1-only GPS RTK observables
RTCM 1002 Extended L1-only GPS RTK observables
RTCM 1003 L1/L2 GPS RTK observables
RTCM 1004 Extended L1/L2 GPS RTK observables
RTCM 1005 Stationary RTK reference station ARP
RTCM 1006 Stationary RTK reference station ARP with antenna height
RTCM 1007 Antenna descriptor
RTCM 1009 L1-only GLONASS RTK observables
RTCM 1010 Extended L1-only GLONASS RTK observables
RTCM 1011 L1/L2 GLONASS RTK observables
RTCM 1012 Extended L1/L2 GLONASS RTK observables
RTCM 1033 Receiver and Antenna Description
RTCM 1074 GPS MSM4
UBX-20039643 - R01 3 Receiver functionality Page 12 of 105
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