ZED-F9P - Integration manual
The configuration messages for these are shown in the
.
The following configuration items output the recommended messages for a default satellite
constellation setting. Note that these are given for the UART1 interface:
Configuration item
Description
CFG-MSGOUT-
RTCM_3X_TYPE1005_UART1
Output rate of the RTCM-3X-TYPE1005 message on port UART1: RTCM base
station message
CFG-MSGOUT-
RTCM_3X_TYPE1074_UART1
Output rate of the RTCM-3X-TYPE1074 message on port UART1: RTCM GPS
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1084_UART1
Output rate of the RTCM-3X-TYPE1084 message on port UART1: RTCM GLONASS
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1094_UART1
Output rate of the RTCM-3X-TYPE1094 message on port UART1: RTCM Galileo
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1124_UART1
Output rate of the RTCM-3X-TYPE1124 message on port UART1: RTCM BeiDou
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1
Output rate of the RTCM-3X-TYPE1230 message on port UART1: RTCM GLONASS
bias message
Table 10: Configuration items used for typical RTCM output configuration on UART1
CFG-RTCM-DF003_OUT can be used to configure the reference station ID that will be reported in all
RTCM messages containing the RTCM DF003 data field.
The configuration of the RTCM 3.3 correction stream must be made with the following guidance:
• All observation messages must be broadcast at the same rate.
• The RTCM 3.3 correction stream must contain the GLONASS code-phase biases message
(type 1230) or the Receiver Antenna Description message (type 1033) otherwise the GLONASS
ambiguities can only be estimated as float, even in RTK fixed mode.
• The static reference station message (type 1005 or type 1006) does not need to be broadcast
at the same rate as the observation messages however a rover will not be able to compute its
position until it has received a valid reference station message.
• The correction stream should only contain one type of observation messages per constellation.
When using a multi-constellation configuration, all constellations should use the same type
of observation messages. Mixing MSM4 and MSM7 messages will possibly lead to incorrect
setting of the multiple message bit.
• If the receiver is configured to output RTCM messages on several ports, they must all have the
same RTCM configuration otherwise the MSM multiple message bit might not be set properly.
3.1.5.6 Base and rover configuration for moving base RTK operation
The moving base (MB) mode differs from the standard RTK operation in that the base station is
no longer stationary at a pre-determined location. Both the reference station and rover receivers
are allowed to move while computing an accurate vector between the receiver antennas. This mode
enables the calculation of heading on dynamic or static platforms, plus provides a centimeter level
accurate 3D vector for use in dynamic positioning applications, e.g. a UAV ”follow me” feature.
In the MB RTK mode, the base and rover receivers are referred to as MB base and MB rover
respectively.
This section describes how to configure the ZED-F9P high precision receiver in a moving base setup.
3.1.5.6.1 Base operation in MB RTK mode
In addition to the rules described in RTCM output configuration section above, the following moving
base specific rules apply:
UBX-18010802 - R08
3 Receiver functionality
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Early production information
