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ZED-F9P - Integration manual

In practice, the relevant organizations choose to keep their respective frames very close to the
International Terrestrial Reference Frame (ITRF), deﬁned and managed by the International Earth
Rotation and Reference Systems Service (IERS).

However, because the Earth's tectonic plates and even parts of the Earth's core move, new versions
of ITRF are deﬁned every few years, generally with changes of the order of a few millimeters.
Consequently, the major GNSS occasionally decide that they need to update their reference frames
to be better aligned with the latest ITRF.

So,  for  example,  GPS  switched  to  WGS84  (G1150)  in  GPS  week  1150  (early  2002)  based  on
ITRF2000,  while  GLONASS  switched  from  PZ90.02  to  PZ90.11  at  the  end  of  2013,  based  on
ITRF2008.  The  net  eﬀect  of  this  is  that  all  the  major  GNSS  use  almost  the  same  reference
frames, but there are some small (generally sub-centimeter) diﬀerences between them, and these
diﬀerences occasionally change.

In order to produce positions that can be shown on a map, it is necessary to translate between raw
coordinates (for example, x, y, z) and a position relative to the Earth's surface (for example, latitude,
longitude and altitude), and that requires deﬁning the form of ellipsoid that best matches the shape
of the Earth.

Historically, many diﬀerent ellipsoid deﬁnitions have been used for maps, many of which predate the
existence of GNSS and show quite signiﬁcant diﬀerences, leading to discrepancies of as much as
100 meters in places. Fortunately, most digital maps now use the WGS84 ellipsoid, which is distinct
from the WGS84 coordinate system, but deﬁned by the same body.

However, for RTK position accuracies now in the centimeter-level, the ITRF year for the WGS84
datum used by the mapping system must be known in order to transform the RTK rover position
into the correct reference frame.

The ZED-F9P stores the EGM96 geoid model with limited resolution, leading to degraded
accuracy of the reported mean sea level height and geoid separation. If the user application
needs higher geoid separation accuracy, it is required to apply its own adjustment to the
ellipsoidal height output from the ZED-F9P.

C RTK conﬁguration procedures with u-center

This section provides some guidance when using u-center to conﬁgure base and rover operation.

C.1 Base conﬁguration with u-center

This section describes setting a static base conﬁguration in the u-center "Messages View" window.

Start u-center and connect to the ZED-F9P device. Under the UBX-CFG message tree, three
conﬁguration messages are listed:

•

CFG-VALDEL

: Allows conﬁguration deletion

•

CFG-VALGET

: Allows conﬁguration reading

•

CFG-VALSET

: Allows conﬁguration setting

All conﬁguration item setting is done using the

UBX-CFG-VALSET

dialog. The general operation is

as follows:

1.

To open a conﬁguration setting dialog, select

UBX-CFG-VALSET

in the message tree list.

2.

Select the required

Group

in the "Compose list entry" section.

3.

Select the associated key in the "Key name" pull-down menu.

4.

Once you have selected the conﬁguration key, move it to the conﬁguration changes list by
clicking

Add to List

.

UBX-18010802 - R08

Appendix

Page 96 of 110

Early production information

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Содержание ZED-F9P

Страница 1: ...ecision GNSS module Integration manual Abstract This document describes the features and application of the ZED F9P a multi band GNSS module with integrated RTK o ering centimeter level accuracy www u...

Страница 2: ...ellectual 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 prohibited The informati...

Страница 3: ...ration 22 3 2 SBAS 27 3 3 QZSS SLAS 28 3 3 1 Features 29 3 3 2 Con guration 29 3 4 Geofencing 30 3 4 1 Introduction 30 3 4 2 Interface 30 3 4 3 Geofence state evaluation 30 3 4 4 Using a PIO for geofe...

Страница 4: ...iming functionality 56 3 11 1 Time pulse 56 3 11 2 Timemark 60 3 12 Security 61 3 12 1 Spoo ng detection monitoring 61 3 12 2 Jamming interference indicator 62 3 12 3 GNSS receiver integrity 63 3 13 u...

Страница 5: ...matic design 88 4 8 7 Layout design in guideline 88 5 Product handling 89 5 1 ESD handling precautions 89 5 2 Soldering 89 5 3 Tapes 92 5 4 Reels 93 5 5 Moisture sensitivity levels 93 Appendix 94 A Gl...

Страница 6: ...loyed 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 fro...

Страница 7: ...ow Figure 1 Typical applications for the ZED F9P 2 1 1 1 Modes of operation The ZED F9P supports the following modes of operation 1 ZED F9P operating as a base It provides RTCM correction data to a ZE...

Страница 8: ...an NTRIP service provider The u center NTRIP client then provides the RTCM 3 3 corrections to a ZED F9P rover connected to the local u center application Virtual reference service is also supported b...

Страница 9: ...ngle xed reference source which is local within 50 km to the rover receiver or via a virtual reference service in which corrections are synthesized for the rovers location The moving base feature also...

Страница 10: ...manual Figure 4 ZED F9P base and rover in a short baseline robotic mower application Figure 5 ZED F9P orientation of a vehicle in space UBX 18010802 R08 2 System description Page 10 of 110 Early prod...

Страница 11: ...tion items An item is made up of a pair consisting of a key ID and a value Related items are grouped together and identi ed under a common group name CFG GROUP a convention used in u center and within...

Страница 12: ...ximum bit rate 400 kb s SPI 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 unles...

Страница 13: ...d for each communication interface via the CFG INFMSG con guration group All message output is additionally subject to the protocol con guration of the communication interfaces Messages of a given pro...

Страница 14: ...Set to 1 if the required logic polarity is active low default CFG HW ANT_CFG_PWRDOWN Power down antenna supply if short circuit is detected CFG HW ANT_CFG_PWRDOWN_POL Power down antenna logic polarity...

Страница 15: ...moving base setup 3 1 5 1 RTCM corrections RTCM is a binary data protocol for communication of GNSS correction information The ZED F9P high precision receiver supports RTCM as speci ed by RTCM 10403 3...

Страница 16: ...097 Galileo MSM7 RTCM 1124 BeiDou MSM4 RTCM 1127 BeiDou MSM7 RTCM 1230 GLONASS code phase biases RTCM 4072 0 Reference station PVT u blox proprietary RTCM Message RTCM 4072 1 Additional reference stat...

Страница 17: ...to operate in RTK xed mode This will result in degraded performance especially in challenging environments CFG RTCM DF003_IN can be used to con gure the desired reference station ID and CFG RTCM DF003...

Страница 18: ...er of xes used for the position estimate Values can range from one day for high accuracy requirements to a few minutes for coarse position determination A 3D position standard deviation de nes a limit...

Страница 19: ...CFGTMODE ECEF_Z For high precision mm coordinates use CFG TMODEECEF_X_HP CFG TMODE ECEF_Y_HP CFG TMODE ECEF_Z_HP The same applies with corresponding coordinates used with CFG TMODE POS_TYPE LLH The 3...

Страница 20: ...imated as oat even in RTK xed 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 ab...

Страница 21: ...receiving RTCM 3 3 corrections In addition to the rules described in the rover operation section the following moving base speci c rules apply A moving base receiver typically experiences worse GNSS t...

Страница 22: ...ceiver s interpretation of the measurements and thus provide a more accurate position output Setting the receiver to an unsuitable platform model for the given application environment is likely to res...

Страница 23: ...The receiver can be forced to only calculate 2D 2D only or 3D 3D only positions CFG NAVSPG CONSTR_ALT CFG NAVSPG CONSTR_ALTVAR The xed altitude is used if xMode is set to 2D only A variance greater t...

Страница 24: ...re the level as de ned in the CFG ODO VELLPGAIN con guration item de nes the nominal ltering level for speeds below 5 m s 3 1 7 3 2 Course over ground low pass lter The CFG ODO OUTLPCOG con guration i...

Страница 25: ...e velocity acceleration changes of the valid ag e g position accuracy estimate exceeding the position accuracy mask see also section Navigation output lters position displacement etc The CFG MOT GNSSD...

Страница 26: ...racy e g with bad signals or if the absolute speed value is very low under 0 1 m s then the course over ground value becomes inaccurate too In this case the course over ground value is frozen i e the...

Страница 27: ...wed Integrity enabled disabled and the signal link quality to the satellite If corrections are available from the chosen SBAS satellite and used in the navigation calculation the di erential status wi...

Страница 28: ...group Parameter Description CFG SIGNAL SBAS_ENA Enabled disabled status of the SBAS subsystem CFG SBAS USE_TESTMODE Allow disallow SBAS usage from satellites in test mode CFG SBAS USE_RANGING Use the...

Страница 29: ...ovides detailed information about which corrections are available and applied Message type Message content 0 Test mode 47 Monitoring station information 48 PRN mask 49 Data issue number 50 DGPS correc...

Страница 30: ...in assigned to a PIO being used for geofence state indication 3 4 3 Geofence state evaluation With every navigation epoch the receiver will evaluate the current solution s position versus the con gure...

Страница 31: ...table lists all the logging related messages Message Description UBX LOG CREATE Creates a log le and activates the logging system UBX LOG ERASE Erases a log le and deactivates the logging subsystem UB...

Страница 32: ...e a valid time stamp Log entries are compressed and have housekeeping information associated with them so the actual space occupied by log messages may be di cult to predict The minimum size for a pos...

Страница 33: ...in the order of 0 1 m Altitude height above mean sea level to a precision of 0 1 m Entries with an altitude lower than 470 m lower than the lowest point on earth or higher than 20 000 m may not be rec...

Страница 34: ...ding via CFG_LOGFILTER RECORD_ENA while retrieving log entries from a circular log to avoid deletion of the requested entries between the request and transmission The receiver will send a UBX LOG RETR...

Страница 35: ...the con guration interface which is described in the ZED F9P interface description 2 Each protocol can be enabled on several ports at the same time multi port capability with individual settings e g...

Страница 36: ...he wrong baud rate is used or the UART RX pin is grounded An error message appears when the UART RX interface is re enabled at the end of the one second period Baud rate Data bits Parity Stop bits 960...

Страница 37: ...ost u blox receivers are con gured to the same default I2C slave address value To poll or set the I2C slave address use the CFG I2C ADDRESS con guration item see ZED F9P Interface description 2 The CF...

Страница 38: ...low for 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 regi...

Страница 39: ...eiver 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...

Страница 40: ...all bytes written to the receiver are set to 0xFF To prevent the receiver from being busy parsing incoming data the parsing process is stopped after 50 subsequent bytes containing 0xFF The parsing pr...

Страница 41: ...not used in an application The voltage range for V_USB is speci ed from 3 0 V to 3 6 V which di ers slightly from the speci cation for VCC The boot screen is retransmitted on the USB port after enume...

Страница 42: ...3 7 3 SAFEBOOT_N The ZED F9P provides a SAFEBOOT_N pin that is used to command the receiver safe boot mode If this pin is low at power up the receiver starts in safe boot mode and GNSS operation is d...

Страница 43: ...ead back and the settings of TX READY feature veri ed will be set to disabled all zero if the settings are invalid The threshold when TX_READY is asserted should not be set above 2 kB as it is possibl...

Страница 44: ...mode has been achieved An active low pin level indicates that RTK xed 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 P...

Страница 45: ...10N 10 16V TYCO 0 25PF PESD0402 140 55 125C ESD protection diode on RF trace Table 24 Recommended components for antenna supervisor 3 8 1 Antenna voltage control ANT_OFF Antenna status as reported in...

Страница 46: ...default 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 o...

Страница 47: ...tart 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 ANTSTATUS INIT 3B GNTXT 01 01 02 ANTSTATUS OK 25 ANTSUPERV AC SD OD PDoS SR indicates...

Страница 48: ...have a fallback mechanism to use another server instead 3 9 3 Preserving information during power o The performance of u blox receivers immediately after they are turned on is enhanced by providing t...

Страница 49: ...ate MGA messages However it is important to ensure that the receiver has an estimate of the current time before it processes any other assistance data For this reason it is strongly recommended to sen...

Страница 50: ...ome of the assistance messages The simplest way to implement ow control would be to send one UBX MGA message at a time waiting for the acknowledgment before sending the next However such a strategy is...

Страница 51: ...ites which are likely to be visible from the approximate position provided by the lat lon alt and pacc parameters If the lat and lon parameters are not provided the service will return an error lteron...

Страница 52: ...1 kHz clock tick takes in the time base of one of the GNSS systems in a multi GNSS receiver In previous generations of u blox receivers this was always the GPS time base but for the current generatio...

Страница 53: ...messages reporting GNSS system time or receiver local time It is recommended to use messages that report UTC time and other messages are retained only for backwards compatibility reasons 3 10 3 iTOW t...

Страница 54: ...time is known without full seconds ambiguity When deriving UTC time from GNSS time the number of leap seconds must be known with the exception of GLONASS It might take several minutes to obtain such i...

Страница 55: ...to handle minutes that are either 59 or 61 seconds long Leap second information can be polled from the u blox receiver with the message UBX NAV TIMELS 3 10 8 Real time clock u blox receivers contain...

Страница 56: ...f the receiver sees transmissions containing week numbers in the range of 500 1023 these will be interpreted as week numbers 1524 2047 calendar year 2009 2019 whereas transmissions with week numbers f...

Страница 57: ...e receivers is required do not mix receivers of di erent product families If this is required the receivers must be calibrated accordingly by setting cable delay and user delay The recommended con gur...

Страница 58: ...and nally European if Galileo is enabled The receiver will assume that the input time pulse uses the same GNSS time base as speci ed for the output using CFG TP So if the user selects GLONASS time for...

Страница 59: ...received signal Only used if the corresponding item is set to use another setting in locked mode user delay The cable delay from the receiver to the user device plus signal delay of any user applicati...

Страница 60: ...d can be set in the CFG NAVSPG con guration group The delay gures de ned with CFG TP are also applied to the results output in the UBX TIM TM2 message A UBX TIM TM2 message is output at the next epoch...

Страница 61: ...w gives an overview 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 detec...

Страница 62: ...ITFM 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 on...

Страница 63: ...subframe generically it is not strictly the correct term for all GNSS e g GLONASS has strings and Galileo has pages 3 13 1 1 Parsing navigation data subframes Each UBX RXM SFRBX message contains a sub...

Страница 64: ...1C A signals there is a fairly straightforward mapping between the reported subframe and the structure of subframe and words described in the GPS ICD Each subframe comprises ten data words which are r...

Страница 65: ...and are included to aid decoding of the transmitted data However the receiver does not always know these values in which case a value of zero is reported The four words are arranged as follows Figure...

Страница 66: ...ileo E1 C B and E5 bl bQ signals both transmit the I NAV message but in di erent con gurations The UBX RXM SFRBX structures for them are as follows 3 13 1 5 1 Galileo E1 C B For Galileo E1 C B signals...

Страница 67: ...ileo E5 bI bQ signals each reported subframe contains a pair of I NAV pages as described in the Galileo ICD Galileo pages can either be Nominal or Alert pages For Nominal pages the eight words are arr...

Страница 68: ...e structure of the eight words will be slightly di erent as indicated by the Galileo ICD 3 13 1 6 SBAS For SBAS L1C A signals each reported subframe contains eight 32 data words to deliver the 250 bit...

Страница 69: ...ollowing table gives a summary of the di erent data message formats reported by the UBX 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...

Страница 70: ...s ephemeris is still valid Since the receiver does not need to download ephemeris again this is the fastest startup method Using the UBX CFG RST message you can force the receiver to reset and clear d...

Страница 71: ...the PIOs is listed in Table 30 The ZED F9P is an LGA package with the I O on the outside edge and central ground pads Figure 34 ZED F9P pin assignment Pin No Name I O Description 1 GND Ground 2 RF_IN...

Страница 72: ...Reserved 32 GND Ground 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 supply 39 USB_DM I O USB data 40 USB_DP I O...

Страница 73: ...rate input voltage noise due to dynamic current conditions For the ZED F9P module the equipment must be supplied by an external limited power source in compliance with the clause 2 5 of the standard I...

Страница 74: ...iver requires 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 curre...

Страница 75: ...If antenna bias is required see ZED F9P antenna bias section The host interface typically supplies the RTCM messages required for RTK operation 4 4 Antenna u blox recommends using an active antenna wi...

Страница 76: ...B max at Zenith Phase center variation 10 mm over elevation azimuth Group delay variation in band 6 10 ns max at each GNSS system bandwidth Note Inter signal requirement 50 ns max EMI immunity out of...

Страница 77: ...bias t inductor must be chosen for multi band operation a value of 120 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 b...

Страница 78: ...used the important points covered below need to be taken into account Figure 40 ZED F9P VCC_RF antenna bias The bias t inductor and current limiting resistor must be selected to be reliable with a sho...

Страница 79: ...en integrating GNSS receivers into wireless systems careful consideration must be given to electromagnetic and voltage susceptibility issues Wireless systems include components which can produce Elect...

Страница 80: ...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 interfaces and antennas For more information...

Страница 81: ...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 GNSS signal power Notably all types of digit...

Страница 82: ...receiver input and enable interference into the sensitive parts of the receiver chain including the antenna itself When de ning a GNSS receiver layout the placement of the antenna with respect to the...

Страница 83: ...es stencil thickness and solder paste volumes must be adapted to the speci c production processes e g soldering etc of the customer Refer to the ZED F9P Data sheet 1 for the mechanical dimensions 4 7...

Страница 84: ...B material 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 shieldi...

Страница 85: ...lid ground layer ll on the top layer of the PCB is recommended This is shown in the gure below Figure 47 Top layer ll and vias 4 7 3 3 VCC pads The VCC pads for the ZED F9P high precision receiver mus...

Страница 86: ...your power supply line the line to VCC to minimize the voltage ripple on VCC See the ZED F9P Power supply section in the Design chapter for more information on the power supply requirements Allow all...

Страница 87: ...ng assembly of end user devices which contain passive patch antennas an ESD discharge may occur during production when pre charged antennas are soldered to the GNSS receiver board In such cases use of...

Страница 88: ...application If you need hot or warm start in your application connect a back up battery to V_BCKP Antenna bias is required see ZED F9P antenna bias section 4 8 7 Layout design in guideline Is the rec...

Страница 89: ...n 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 soldering iro...

Страница 90: ...ises above 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...

Страница 91: ...laced on that side of the board which is submitted into the last re ow cycle The reason for this besides others is the risk of the module falling o due to the signi cantly higher weight in relation to...

Страница 92: ...unity to interferences and noise u blox makes no warranty for damages to the module caused by soldering metal cables or any other forms of metal strips directly onto the EMI covers Use of ultrasonic p...

Страница 93: ...speci ed in the u blox Package Information Guide See the u blox Package Information Guide 3 5 5 Moisture sensitivity levels The moisture sensitivity level MSL for ZED F9P is speci ed in the table belo...

Страница 94: ...MSM Multiple Signal Messages NTRIP Networked transport of RTCM via internet protocol PCB Printed Circuit Board QZSS Quasi Zenith Satellite System RF Radio frequency RTCM Radio Technical Commission fo...

Страница 95: ...red system being used by their application and mapping system If comparing the rover position with a reference system the same RTCM stream should be used to ensure that the reference and the rover out...

Страница 96: ...in places Fortunately most digital maps now use the WGS84 ellipsoid which is distinct from the WGS84 coordinate system but de ned by the same body However for RTK position accuracies now in the centim...

Страница 97: ...w Use the following procedure to con gure the module for base station operation Setting the required RTCM message output can be done in one session 1 Select Group CFG MSGOUT Key name CFG MSGOUT RTCM3X...

Страница 98: ...illustration shows the use of RTCM MSM7 messages MSM4 messages are equally applicable as recommended in the receiver con guration section Set the receiver into base mode by enabling a survey in proce...

Страница 99: ...n 1 m In multi path conditions the time to achieve a speci ed accuracy can take longer than expected You may need to relocate the base antenna or extend the required accuracy and or survey in time You...

Страница 100: ...cating with a host Then a set of output messages are set to enable receiver status monitoring Using the UBX CFG VALSET con guration window in the u center Message View set the UART1 interface for the...

Страница 101: ...g the current value See Figure 58 Figure 58 Example u center UBX CFG VALSET message view when selecting a con guration item 4 Next add the value for example 230400 into the Value window that appears b...

Страница 102: ...er UBX CFG VALSET 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 rover status...

Страница 103: ...SGOUT con guration items for enabling the output of some recommended UBX messages To ensure all the required RTCM messages including most importantly RTCM 1005 or 4072 0 are being received regularly e...

Страница 104: ...e 62 Rover u center data view with RTK Fixed If using a virtual reference service the rover must output the NMEA GGA message to return to the NTRIP caster Without this the NTRIP caster will not provid...

Страница 105: ...ariation owing to the size and shape of the ground plane coupled with the e ects of the adjacent structures A phase center variation calibration is required to check the average phase center A success...

Страница 106: ...g An example of the measured frequency characteristics of a low cost L1 L2 antenna is shown below Figure 65 Low cost L1 L2 antenna band characteristics The u blox low cost antenna design is shown belo...

Страница 107: ...are antenna types that can be used without a substantial ground plane such as a helical antenna type This is a useful solution where space is limited for example for drone or small form factor applica...

Страница 108: ...54 3 u blox Package Information Guide doc no UBX 14001652 4 ZED F9P Moving Base application note doc no UBX 19009093 For regular updates to u blox documentation and to receive product change noti cati...

Страница 109: ...on Added a design in restriction for ANT_DETECT pin in section Design R05 22 Aug 2019 ghun HPG 1 12 Early Production Information R06 15 Jan 2020 dama Tape feed and dimension pictures updated PCN UBX 1...

Страница 110: ...E mail 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...

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