ZED-F9P - Integration Manual
UBX-18010802 - R01
1 Overview
Page 13 of 64
Objective Specification - Confidential
Configuration item
Description
CFG-TMODE-LON
Longitude of the ARP position
CFG-TMODE-HEIGHT
Height of the ARP position
CFG-TMODE-ECEF_X_HP
High-precision ECEF X coordinate of the ARP position
CFG-TMODE-ECEF_Y_HP
High-precision ECEF Y coordinate of the ARP position
CFG-TMODE-ECEF_Z_HP
High-precision ECEF Z coordinate of the ARP position
CFG-TMODE-LAT_HP
High-precision latitude of the ARP position
CFG-TMODE-LON_HP
High-precision longitude of the ARP position
CFG-TMODE-HEIGHT_HP
High-precision height of the ARP position
Table 7: Configuration items used for setting a base station into fixed mode
The high precision option for each of the position types allows you to enter the value in mm
compared to the standard cm value.
Once the receiver is set in Fixed mode you only then have to select what position format you
are going to use to enter the base antenna position. Either LLH or ECEF. You then have an
option to enter high precision (mm) co-ordinates instead of the standard cm accurate co-
ordinates if you know the base antenna location to this sufficient accuracy. You do not need
to do both.
For example if CFG-TMODE-POS_TYPE=ECEF. If you only know the base antenna position to an
absolute cm level accuracy use CFG-TMODE-ECEF_X, CFG-TMODE-ECEF_Y, CFG-TMODE-ECEF_Z.
If you know the absolute accuracy of the base antenna to mm level accuracy then you use CFG-
TMODE-ECEF_X_HP, CFG-TMODE-ECEF_Y_HP, CFG-TMODE-ECEF_Z_HP.
The same is true if you use CFG-TMODE-POS_TYPE=LLH.
Attention
If the base station is moved, survey-in must be repeated to obtain the new
coordinates or the fixed mode must be reconfigured using the new coordinates.
1.9.6 Base station: Configuration procedure overview
This overview describes how to set the base station configuration by using the UBX-CFG-
VALSET message view that is available in u-center 18.05 or newer. The UBX-CFG-VALSET
message view needs to be set up for the configuration group and configuration keys that you
wish to set. Once a configuration key is selected, you need to add it to the list by clicking the
'Add to List' button. Once it is in the 'Configuration changes to send' table you can edit or read
the current receiver value. If you click on the Key item in the list, it will then be highlighted and
allow you to set the value or read the current set value.
To configure the module for base station operation the following procedure needs to be carried out:
• Set the UART1 interface for the correct host baud rate.
• Select Group: CFG-UART1, Key name: CFG-UART1-BAUDRATE. Please see
• Add it to the list and highlight it. It will now give you the option of setting the value or
reading the current value. Please see
.
• Now add the value, e.g. 230400 baud, into the new Value window that appears below
.
• Now set the configuration by clicking the Send button at the bottom of the message
tree view. Remember to then set u-center baud rate to match the value you set in the
receiver.
• Setting the base station required RTCM3 message output can be done in one session. Select
Group CFG-MSGOUT, Key name: CFG-MSGOUT-RTCM3X and select the UART1 required
messages. Add each message to the list and then set the value of each to 1. Then click Send.
Please see
.
