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ZED-F9T - Integration Manual

The desired RTCM messages must be selected and conﬁgured on UART1 rate 1:

• RTCM 1005 Stationary RTK reference station ARP
• RTCM 1077 GPS MSM7
• RTCM 1088 GLONASS MSM7
• RTCM 1097 Galileo MSM7
• RTCM 1127 BeiDou MSM7
• RTCM 1230 GLONASS code-phase biases
• RTCM 4072 Additional reference station information

The conﬁguration messages for these are shown in the

Table 10

.

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-UART1OUTPROT-NMEA

CFG-UART1OUTPROT-NMEA to 0

CFG-UART1OUTPROT-RTCM3X

CFG-UART1OUTPROT-RTCM3X to 1

CFG-UART1OUTPROT-UBX

CFG-UART1OUTPROT-UBX to 0

CFG-MSGOUT-
RTCM_3X_TYPE1005_UART1

CFG-UART1OUTPROT-RTCM3X to 1

CFG-MSGOUT-
RTCM_3X_TYPE1077_UART1

Output rate of the RTCM-3X-TYPE1077 message on port UART1: RTCM GPS
MSM7

CFG-MSGOUT-
RTCM_3X_TYPE1087_UART1

Output rate of the RTCM-3X-TYPE1087 message on port UART1: RTCM GLONASS
MSM7

CFG-MSGOUT-
RTCM_3X_TYPE1097_UART1

Output rate of the RTCM-3X-TYPE1097 message on port UART1: RTCM Galileo
MSM7

CFG-MSGOUT-
RTCM_3X_TYPE1127_UART1

Output rate of the RTCM-3X-TYPE1127 message on port UART1: RTCM Additional
reference station information

CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1

Output rate of the RTCM-3X-TYPE1230 message on port UART1: RTCM GLONASS
code-phase biases

CFG-MSGOUT-
RTCM_3X_TYPE4072_1_UART1

Output rate of the RTCM-3X-TYPE4072.1 message on port UART1: RTCM
Additional reference station information

Table 10: Conﬁguration items used for setting a master reference station

3.1.5.6 Slave station

When the ZED-F9T acts as a slave receiver, it receives diﬀerential corrections RTCM 3.3 messages
from a master reference station and aligns its time pulse to it.

Connect the slave receiver to the reference server or to the NTRIP server. When the slave receives
the conﬁgured RTCM correction stream, it will automatically start using the corrections.

Reception of RTCM 4072.1 is required to start using diﬀerential correction data.

3.1.6 Legacy conﬁguration interface compatibility

There is some backwards-compatibility for the legacy UBX-CFG conﬁguration messages. It is
strongly recommended to adopt the new conﬁguration interface, as the legacy conﬁguration
messages support will be removed in the future.

See Legacy UBX-CFG Message Fields Reference section in the ZED-F9T Interface Description [

2

].

3.1.7 Navigation conﬁguration

This section presents various conﬁguration options related to the navigation engine. These options
can be conﬁgured through various conﬁguration groups, such as CFG-NAVSPG-*, CFG-ODO-*, and
CFG-MOT-*.

UBX-19005590 - R01

3 Receiver functionality

Page 15 of 80

Advance Information

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Содержание ZED-F9T

Страница 1: ...high accuracy timing module Integration Manual Abstract This document describes the features and application of ZED F9T a multi band GNSS module o ering nanosecond level timing accuracy www u blox co...

Страница 2: ...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 prohibited The inform...

Страница 3: ...3 2 3 Geofence state evaluation 21 3 2 4 Using the geofence pin state output 21 3 3 Interfaces 21 3 3 1 UART interfaces 23 3 3 2 SPI interface 23 3 3 3 USB interface 23 3 3 4 D_SEL interface 24 3 3 5...

Страница 4: ...F9T minimal design 59 4 4 Antenna 60 4 4 1 Antenna bias 61 4 5 EOS ESD precautions 64 4 5 1 ESD protection measures 64 4 5 2 EOS precautions 65 4 5 3 Safety precautions 65 4 6 Electromagnetic interfe...

Страница 5: ...ZED F9T Integration Manual 5 5 Moisture sensitivity levels 76 6 Appendix 77 6 1 Glossary 77 7 Related documents 78 8 Revision history 79 UBX 19005590 R01 Contents Page 5 of 80 Advance Information...

Страница 6: ...to existing users of u blox positioning products however some changes are introduced owing to the new con guration concept The sections from Design onwards addresses hardware options when designing th...

Страница 7: ...hboring ZED F9T timing receivers via a communication network In di erential timing mode the ZED F9T can operate either as a master reference station or as a slave station When ZED F9T acts as a master...

Страница 8: ...ZED F9T Integration Manual 2 2 1 Block diagram Figure 1 ZED F9T block diagram An active antenna is mandatory with the ZED F9T UBX 19005590 R01 2 System description Page 8 of 80 Advance Information...

Страница 9: ...ether and identi ed under a common group name CFG GROUP ITEM a convention used in u center and within this document Within u center a con guration group is identi ed as Group name and the con guration...

Страница 10: ...NMEA 4 10 messages that include satellite data for all GNSS bands being received This results in a higher than before NMEA load output for each navigation period Make sure the UART1 baud rate being u...

Страница 11: ...B1 only Unsupported combinations will be rejected with a UBX ACK NAK and the warning invalid sig cfg will be sent via UBX INF and NMEA TXT messages if enabled The following table shows possible con g...

Страница 12: ...pervisor through the UBX MON RF message Moreover any changes in the status of the antenna supervisor are reported to the host interface in the form of notice messages See the tables below for a descri...

Страница 13: ...iver s position must be known as exactly as possible Errors in the xed position will translate into time errors depending on the satellite constellation The following procedures can be used to initial...

Страница 14: ...CEF_Y_HP High precision ECEF Y coordinate of the ARP position coordinate in 0 1 millimeters CFG TMODE ECEF_Z_HP High precision ECEF Z coordinate of the ARP position coordinate in 0 1 millimeters CFG T...

Страница 15: ...on CFG MSGOUT RTCM_3X_TYPE1230_UART1 Output rate of the RTCM 3X TYPE1230 message on port UART1 RTCM GLONASS code phase biases CFG MSGOUT RTCM_3X_TYPE4072_1_UART1 Output rate of the RTCM 3X TYPE4072 1...

Страница 16: ...irborne 1g Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car No 2D position xes supported Airborne 2g Recommended for typical airborne environmen...

Страница 17: ...BX NAV STATUS message also reports whether a x is valid in the gpsFixOK ag These messages have only been retained for backwards compatibility and users are recommended to use the UBX NAV PVT message 3...

Страница 18: ...s By default static hold mode is disabled If the speed drops below the de ned Static Hold Threshold the static hold mode will be activated Once static hold mode has been entered the position output is...

Страница 19: ...ulated with su cient accuracy 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...

Страница 20: ...successful 3D x min four SVs available the altitude is kept constant at the last known value This is called a 2D x u blox receivers do not calculate any navigation solution with less than three SVs 3...

Страница 21: ...when evaluating the geofence state red circle in gure below Figure 6 Geofence states The combined state for all geofences is evaluated as the combination logical OR of all geofences Inside The positi...

Страница 22: ...ZED F9T Integration Manual Figure 7 ZED F9T output isolation Figure 8 ZED F9T input isolation UBX 19005590 R01 3 Receiver functionality Page 22 of 80 Advance Information...

Страница 23: ...ave interface that can be selected by setting D_SEL 0 The SPI slave interface is shared with UART1 The SPI pins available are SPI_MISO TXD SPI_MOSI RXD SPI_CS_N SPI_CLK The SPI interface is designed t...

Страница 24: ...to con gure the pins as UART1 I 2 C or as SPI See Table 14 below Pin No D_SEL 0 D_SEL 1 42 SPI_MISO UART1 TXD 43 SPI_MOSI UART1 RXD 44 SPI_CS_N DDC I 2 C SDA 45 SPI_CLK DDC I 2 C SCL Table 14 D_SEL co...

Страница 25: ...esistors which should be su cient for most applications However depending on the speed of the host and the load on the DDC lines additional external pull up resistors may be necessary To use the DDC I...

Страница 26: ...ction diode on RF trace TYCO 0 25PF PESD0402 140 55 125C 3 3 9 1 Antenna voltage control ANT_OFF Antenna status as reported in UBX MON RF and UBX INF NOTICE messages is not reported unless the antenna...

Страница 27: ...eing reported as shorted If the antenna short detection auto recovery is enabled then the antenna status can recover after a timeout To recover the antenna status immediately a power cycle is required...

Страница 28: ...TXT 01 01 02 ANTSTATUS OPEN 35 Then if ANT_DETECT is left oating or it is pulled high to indicate antenna connected GNTXT 01 01 02 ANTSTATUS OK 25 3 3 10 EXTINT EXTINT is an external interrupt pin wit...

Страница 29: ...A or UBX it does not make sense to change the default word length values data bits since these properties are de ned by the protocol and not by the electrical interface If the amount of data con gured...

Страница 30: ...read returning 0xFF when no more data is available Figure 12 SPI back to back read write access 3 3 11 3 USB port A single USB port is provided for host communication purposes See the ZED F9T Data she...

Страница 31: ...rns 0xFF if no data is available The TX ready feature can be used to inform the master about data availability and can be used as a trigger for data transmission 3 3 11 5 1 Read access The DDC interfa...

Страница 32: ...waiting Figure 14 shows the format of the random access form of the request Following the start condition from the master the 7 bit device address and the RW bit which is a logic low for write access...

Страница 33: ...nsmission to the receiver communication port without requiring any modi cation by the client AssistNow Online optionally provides satellite ephemerides health information and time aiding data suitable...

Страница 34: ...host system 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...

Страница 35: ...istance process The best strategy will depend on the amount of assistance data being sent and the nature of the communications link e g baud rate of serial link u blox recommends that when customers a...

Страница 36: ...ly 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 lteronsv String Optional...

Страница 37: ...er local time The receiver is dependent on a local oscillator for both the operation of its radio parts and also for timing within its signal processing No matter what nominal frequency the local osci...

Страница 38: ...tly after receiver start Depending on the con guration of the receiver such invalid times may well be output but with ags indicating their state e g the valid ags in UBX NAV PVT u blox receivers emplo...

Страница 39: ...sons Only when the confirmedTime ag is set the probability of incorrect time information drops signi cantly fullyResolved means that the UTC time is known without full seconds ambiguity When deriving...

Страница 40: ...longitude at midday A leap second is therefore announced to bring UTC back into close alignment This normally involves adding an extra second to the last minute of the year but it can also happen on...

Страница 41: ...nce rollover week number is hard coded at compile time and is normally set a few weeks before the software is completed but it can be overridden by CFG NAVSPG WKNROLLOVER con guration item to any valu...

Страница 42: ...red 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 guration when using the...

Страница 43: ...bled 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 tim...

Страница 44: ...rom the receiver to the user device plus signal delay of any user application lock to gps freq Use frequency gained from GPS signal information rather than local oscillator s frequency if ag is set lo...

Страница 45: ...u Galileo or local time in the CFG TP con guration group The UTC standard 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 t...

Страница 46: ...input output system using UBX MON COMMS Status of various hardware sections with UBX MON HW3 and UBX MON RF 3 7 1 1 Input output system monitoring The I O system is a GNSS internal layer where all dat...

Страница 47: ...wave CW jammers interference It is independent of the CW only jamming indicator described in Jamming interference indicator above This monitor reports whether jamming has been detected or suspected b...

Страница 48: ...of the di erent GNSS signals the form of the reported data also varies Indeed although this document uses the term subframe generically it is not strictly the correct term for all GNSS e g GLONASS ha...

Страница 49: ...rises ten data words which are reported in the same order they are received Each word is arranged as follows Figure 22 GPS L1C A subframe word 3 8 1 2 2 GPS L2C For GPS L2C signals each reported subfr...

Страница 50: ...which case a value of zero is reported The four words are arranged as follows Figure 24 GLONASS subframe words In some circumstances especially on startup the receiver may be able to decode data from...

Страница 51: ...both transmit the I NAV message but in di erent con gurations The UBX RXM SFRBX structures for them are as follows 3 8 1 5 1 Galileo E1 C B For Galileo E1 C B signals each reported subframe contains...

Страница 52: ...Galileo E5 b1 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...

Страница 53: ...as indicated by the Galileo ICD 3 8 1 6 QZSS The structure of the data delivered by QZSS L1C A signals is e ectively identical to that for GPS L1C A Similarly the QZSS L2C signal is e ectively identic...

Страница 54: ...tup mode Factory startup Warm start In warm start mode the receiver has approximate information for time position and coarse satellite position data Almanac In this mode after power up the receiver no...

Страница 55: ...s idle restarts operation reloads its con guration and starts to acquire and track GNSS satellites Controlled software reset GNSS only only restarts the GNSS tasks without reinitializing the full syst...

Страница 56: ...ned con guration of the PIOs is listed in Table 22 The ZED F9T is an LGA package with the I O on the outside edge and central ground pads Figure 28 ZED F9T pin assignment Pin No Name I O Description...

Страница 57: ...0 Reserved Reserved 31 Reserved 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...

Страница 58: ...nerate input voltage noise due to dynamic current conditions For the ZED F9T module the equipment must be supplied by an external limited power source in compliance with the clause 2 5 of the standard...

Страница 59: ...of 3 3V typically No inductors or ferrite beads should be used from LDO to the module VCC pin The peak currents need to be taken into account for the source supplying the LDO for the module A power s...

Страница 60: ...to all ground pins of the ZED F9T GNSS modules If antenna bias is required see ZED F9T antenna bias section 4 4 Antenna u blox recommends using an active antenna with ZED F9T If an active antenna need...

Страница 61: ...human body model air discharge Table 23 Antenna speci cations for ZED F9T modules The antenna system should include ltering to ensure adequate protection from nearby transmitters Care should be taken...

Страница 62: ...uctor Murata LQW15ANR12J00 has a maximum current capacity of 110 mA Hence the current is limited to 70 mA at 3 3V using an active limiter in the recommended circuit shown in Figure 33 below A 10 resis...

Страница 63: ...recommended to use active current limiting If active current limiting is not used the following important points covered below need to be taken into account Figure 34 ZED F9T VCC_RF antenna bias The...

Страница 64: ...ge antenna bias 4 5 EOS ESD precautions When integrating GNSS receivers into wireless systems careful consideration must be given to electromagnetic and voltage susceptibility issues Wireless systems...

Страница 65: ...y Separated or Safety Extra Low Voltage SELV circuits are to be connected to the module including interfaces and antennas For more information about SELV circuits see section 2 2 in Safety standard IE...

Страница 66: ...nal levels are much higher than GNSS signal power Notably all types of digital equipment like PCs digital cameras LCD screens etc tend to emit a broad frequency spectrum up to several GHz of frequency...

Страница 67: ...out the placement of the antenna with respect to the receiver as well as grounding shielding and interference from other digital devices are crucial issues and need to be considered very carefully Sig...

Страница 68: ...ce and the ZED F9T high accuracy timing receiver RF_IN pad should be surrounded by vias as shown in the gure below Figure 38 RF input trace The RF_IN trace on the Top layer should be referenced to a s...

Страница 69: ...SB pin Is there a 1 F cap right next to the module VCC pin Compare the peak current consumption of the ZED F9T GNSS module with the speci cation of your power supply GNSS receivers require a stable po...

Страница 70: ...wing subsections provide several options addressing the various questions above In some applications such as GSM transceivers interference signals may exceed the maximum power rating of the RF_IN_1 in...

Страница 71: ...es Choose the required serial communication interfaces UART USB SPI or DDC and connect the appropriate pins to your application If you need hot or warm start in your application connect a backup batte...

Страница 72: ...na area is 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 ES...

Страница 73: ...quidus 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 Cooling pha...

Страница 74: ...to the signi cantly higher weight in relation to other components Two re ow cycles can be considered by excluding the above described upside down scenario and taking into account the rework condition...

Страница 75: ...dering metal cables or any other forms of metal strips directly onto the EMI covers Use of ultrasonic processes Some components on the module are sensitive to ultrasonic waves Use of any ultrasonic pr...

Страница 76: ...e See the u blox Package Information Guide 3 5 5 Moisture sensitivity levels The Moisture sensitivity level MSL for ZED F9T high accuracy timing receivers is speci ed in the table below Package MSL le...

Страница 77: ...rotective Area ESD Electrostatic Discharge Galileo European navigation satellite system GLONASS Russian navigation satellite system GND Ground GNSS Global Navigation Satellite System GPS Global Positi...

Страница 78: ...face Description Docu No UBX 18053584 3 u blox Package Information Guide Docu No UBX 14001652 For regular updates to u blox documentation and to receive product change noti cations please register on...

Страница 79: ...te Name Status Comments R01 15 Mar 2019 tkoi Advance Information Added a design in restriction for ANT_DETECT pin in section Design Mechanical speci cation gure updated in section Layout UBX 19005590...

Страница 80: ...45 E mail support_us u blox com 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 Regi...

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