ZED-F9K - Integration manual
Platform
Description
Pedestrian
Applications with low acceleration and speed, e.g. how a pedestrian would move. Low
acceleration assumed.
Automotive
Used for applications with equivalent dynamics to those of a passenger car. Low vertical
acceleration assumed.
At sea
Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed.
Sea level assumed.
Airborne <1g
Used for applications with a higher dynamic range and greater vertical acceleration than a
passenger car. No 2D position fixes supported.
Airborne <2g
Recommended for typical airborne environments. No 2D position fixes supported.
Airborne <4g
Only recommended for extremely dynamic environments. No 2D position fixes supported.
Wrist
Only recommended for wrist-worn applications. Receiver will filter out arm motion.
Table 5: Dynamic platform models
Platform
Max altitude [m]
Max horizontal
velocity [m/s]
Max vertical velocity
[m/s]
Sanity check type
Max
position
deviation
Portable
12000
310
50
Altitude and velocity
Medium
Stationary
9000
10
6
Altitude and velocity
Small
Pedestrian
9000
30
20
Altitude and velocity
Small
Automotive
6000
100
15
Altitude and velocity
Medium
At sea
500
25
5
Altitude and velocity
Medium
Airborne <1g
80000
100
6400
Altitude
Large
Airborne <2g
80000
250
10000
Altitude
Large
Airborne <4g
80000
500
20000
Altitude
Large
Wrist
9000
30
20
Altitude and velocity
Medium
Table 6: Dynamic platform model details
Applying dynamic platform models designed for high acceleration systems (e.g. airborne <2g) can
result in a higher standard deviation in the reported position.
If a sanity check against a limit of the dynamic platform model fails, then the position solution
is invalidated.
above shows the types of sanity checks which are applied for a particular
dynamic platform model.
3.1.6.2 Navigation input filters
The navigation input filters in CFG-NAVSPG-* configuration group provide the input data of the
navigation engine.
Configuration item
Description
CFG-NAVSPG-FIXMODE
By default, the receiver calculates a 3D position fix if possible but reverts to 2D
position if necessary (
auto 2D/3D
). 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 fixed altitude is used if fixMode is set to 2D only. A variance greater than zero
must also be supplied.
CFG-NAVSPG-INFIL_MINELEV
Minimum elevation of a satellite above the horizon in order to be used in the
navigation solution. Low elevation satellites may provide degraded accuracy, due to
the long signal path through the atmosphere.
CFG-NAVSPG-INFIL_NCNOTHRS,
CFG-NAVSPG-INFIL_CNOTHRS
A navigation solution will only be attempted if there are at least the given number of
with signals at least as strong as the given threshold.
Table 7: Navigation input filter parameters
UBX-20046189 - R01
3 Receiver functionality
Page 14 of 105
C1-Public
Early production information