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ZED-F9P - Integration Manual

UBX-18010802 - R01

1 Overview

Page 7 of 64

Objective Specification - Confidential

• GLO L1OF L2OF
• GAL E1B/C E5b
• BDS B1I
• QZSS L1C/A L2C

BDS B2I is also supported but not enabled in the default GNSS configuration

The configuration settings can be modified using UBX protocol configuration messages, see the
ZED-F9P Interface Description [

1.4 RTCM3 corrections

The ZED-F9P high precision receiver needs to receive RTCM3 corrections to function as an
RTK rover, and the RTCM3 messages it receives must be for all the GNSS constellations and
signals being received. The ZED-F9P high precision receiver needs to output RTCM3 corrections
if being used as an RTK base. The correct RTCM3 messages must also be selected for the GNSS
constellations and signals being received. The supported input and output messages are listed in
the following sections.

For rover configuration with default GNSS configuration the recommended list of RTCM3 input
messages are:

• RTCM 1005
• RTCM 1077
• RTCM 1087
• RTCM 1097
• RTCM 1127
• RTCM 1230

For base configuration with default GNSS configuration the recommended list of RTCM3 output
messages are:

• RTCM 1005
• RTCM 1077
• RTCM 1087
• RTCM 1097
• RTCM 1127
• RTCM 1230

The RTCM3 specification is currently at V3.3 and it must be noted that RTCM2x messages are not
supported by the RTCM3 standard.

You can download the standard from the RTCM website

http://www.rtcm.org/differential-global-

navigation-satellite--dgnss--standards.html

To modify the RTCM input/output settings see Section Configuration and the u-blox ZED-F9P
Interface Description [

].

1.5 Supported list of RTCM3 input messages

Message

Description

RTCM 1001

L1-only GPS RTK observables

RTCM 1002

Extended L1-only GPS RTK observables

RTCM 1003

L1/L2 GPS RTK observables

RTCM 1004

Extended L1/L2 GPS RTK observables

RTCM 1005

Stationary RTK reference station ARP

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Содержание ZED-F9P

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

Страница 2: ...nd designs described herein may in whole or in part be subject to intellectual property rights Reproduction use modification or disclosure to third parties of this document or any part thereof without...

Страница 3: ...tput configuration 11 1 9 4 Base and rover UBX output configuration 11 1 9 5 Base station Mode configuration 12 1 9 6 Base station Configuration procedure overview 13 1 9 7 Rover Configuration procedu...

Страница 4: ...4 3 Out of band interference 37 5 Design 39 5 1 Pin assigment 39 5 2 RF front end circuit options 41 5 3 ZED F9P minimal design 44 5 4 ZED F9P antenna bias 44 5 5 Layout 46 5 5 1 Placement 46 5 5 2 Pa...

Страница 5: ...22 0 x 2 4 mm 1 1 Real Time Kinematic u blox ZED F9P takes GNSS precision to the next level Delivers accuracy down to the centimeter level 0 01m 1 ppm CEP Fast time to first fix and robust performance...

Страница 6: ...pplication setups 1 2 1 ZED F9P in a drone application Figure 2 ZED F9P base and rover in a short baseline drone application 1 2 2 ZED F9P in a robotic mower application Figure 3 ZED F9P base and rove...

Страница 7: ...ges are listed in the following sections For rover configuration with default GNSS configuration the recommended list of RTCM3 input messages are RTCM 1005 RTCM 1077 RTCM 1087 RTCM 1097 RTCM 1127 RTCM...

Страница 8: ...ONASS MSM7 RTCM 1097 Galileo MSM7 RTCM 1127 BeiDou MSM7 RTCM 1230 GLONASS code phase biases Table 2 ZED F9P supported output RTCM 3 3 messages 1 7 NTRIP Networked Transport of RTCM via Internet Protoc...

Страница 9: ...network of reference stations As a quick review a typical DGNSS setup consists of a single reference station from which the raw data or corrections are sent to the rover receiver i e the user The use...

Страница 10: ...or reset If these settings have been stored in BBR Battery Backed RAM then the modified configuration will be retained as long as the backup battery supply is not interrupted The configuration can be...

Страница 11: ...Setting the appropriate configuration items is done by using the UBX CFG VALSET message Several configuration items allow configuring the message output rates per message and per communication interf...

Страница 12: ...the coordinates are known it can be set directly to fixed mode To set the base station into the desired mode the appropriate configuration items must be set by using the UBX CFG VALSET message For al...

Страница 13: ...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 Config...

Страница 14: ...ased on the environment and achievable accuracy in the base location The base will not typically achieve less than a real 1 m accuracy in good conditions in obstructed multi path conditions this figur...

Страница 15: ...ective Specification Confidential Figure 6 Example u center UBX CFG VALSET message view when selecting a configuration item Figure 7 Base station u center UBX CFG VALSET message view for setting the C...

Страница 16: ...Base station u center UBX CFG VALSET message view for setting the CFG MSGOUT configuration items for enabling the output of the required RTCM3 messages Figure 9 Base station u center UBX CFG VALSET me...

Страница 17: ...w Page 17 of 64 Objective Specification Confidential Figure 10 Base station u center UBX CFG VALSET message view for setting the CFG TMODE configuration items required for performing a survey in Figur...

Страница 18: ...give you the option of setting the value or reading the current value Please see Figure 14 Now add the value e g 230400 baud into the new Value window that appears below the list Please see Figure 15...

Страница 19: ...nual UBX 18010802 R01 1 Overview Page 19 of 64 Objective Specification Confidential Figure 13 u center UBX CFG VALSET message view Figure 14 Example u center UBX CFG VALSET message view when selecting...

Страница 20: ...al Figure 15 Rover u center UBX CFG VALSET message view for setting the CFG UART1 BAUDRATE configuration item that controls the baudrate of UART1 Figure 16 Rover u center UBX CFG VALSET message view f...

Страница 21: ...ly Beta firmware for the ZED F9P still accepts the legacy UBX CFG messages however these messages are now deprecated on ZED F9P and have been replaced by new configuration messages that should be used...

Страница 22: ...ngs must be selected based on the environment and achievable accuracy in the base location The base will not typically achieve less than a real 1 m accuracy in good conditions in obstructed multi path...

Страница 23: ...ZED F9P Integration Manual UBX 18010802 R01 1 Overview Page 23 of 64 Objective Specification Confidential Figure 20 Base u center UART1 UBX CFG MSG view Figure 21 Base u center UBX CFG TMODE3 view...

Страница 24: ...he minimum list of RTCM3 input messages are being received continuously by using the UBX RXM RTCM message Please see Figure 24 The rover will indicate DGNSS then FLOAT and finally FIXED mode when the...

Страница 25: ...pecification Confidential Figure 24 Rover u center UBX RXM RTCM view Figure 25 Rover u center data view 1 10 3 Rover VRS configuration For VRS operation the rover needs NMEA protocol output enabled on...

Страница 26: ...nly the following NMEA and no UBX messages have been activated at start up GGA GLL GSA GSV RMC VTG TXT UART1 Input 38400 Baud 8 bits no parity bit 1 stop bit Automatically accepts following protocols...

Страница 27: ...ocols available as in UART1 SPI is not available unless the D_SEL interface is set up accordingly see D_SEL interface TIMEPULSE 1 Hz Nav 1 pulse per second synchronized at rising edge pulse length 100...

Страница 28: ...for a short time see the u blox u blox ZED F9P Data sheet 1 for specification When switching from backup mode to normal operation or at start up u blox ZED F9P modules must charge the internal capaci...

Страница 29: ...void unnecessary battery drain In this case VCC supplies power to the RTC and BBR Please connect to ground or allow all I O including UART and other interfaces to Float High impedance in HW backup mod...

Страница 30: ...for interfacing to a satellite correction receiver With firmware version 1 00B03 it is not possible to use the UART2 as an RTCM interface With firmware version 1 00B03 the default baud rate is 38400 b...

Страница 31: ...the host to the receiver in order to enable communication After sending the training sequence the host has to wait for at least 2 ms before sending messages to the receiver Safe Boot Mode is used in...

Страница 32: ...nel DDC An I 2 C compliant DDC interface is available for communication with an external host CPU or u blox cellular modules The interface can be operated in slave mode only The DDC protocol and elect...

Страница 33: ...nitor command If an antenna is connected the initial state after power up is Active Antenna OK The module firmware supports an active antenna supervisor circuit which is connected to the ANT_DET_N ANT...

Страница 34: ...hly sensitive electronic circuitry and are Electrostatic Sensitive Devices ESD Observe precautions for handling Failure to observe these precautions can result in severe damage to the GNSS receiver Un...

Страница 35: ...If the RF_IN is damaged by EOS it s hard to determine whether the chip structures have been damaged by ESD or EOS EOS protection measures as shown in the figure below are recommended for any designs c...

Страница 36: ...use resistors or ferrite beads on the I O lines in series These components should be chosen with care because they will affect also the signal rise times Alternatively feed thru capacitors with good...

Страница 37: ...vious that interference issues must be seriously considered in any design of a GNSS receiver Different design goals may be achieved through different implementations The primary focus is prevention of...

Страница 38: ...tive Specification Confidential For GSM applications like a typical handset design an isolation of approximately 20 dB can be reached with careful placement of the antennas If this is insufficient an...

Страница 39: ...module is shown in Figure 37 The defined configuration of the PIOs is listed in Table 9 Figure 37 ZED F9P pin assignment Pin No Name I O Description 1 GND Ground 2 RF_IN_1 I RF input 3 GND Ground 4 AN...

Страница 40: ...d 29 Reserved Reserved 30 Reserved Reserved 31 Reserved Reserved 32 GND Ground 33 VCC I Voltage supply 34 VCC I Voltage supply 35 Reserved Reserved 36 V_BCKUP I Backup supply voltage 37 GND Ground 38...

Страница 41: ...protected accordingly If a combined GNSS L1 L2 L band NEO D9 RF system is to be used a suitable band power divider should be used Separate RF IN system Figure 38 ZED F9P and NEO D9 RF IN For a separa...

Страница 42: ...splitter components for 85 Degrees Celcius maximum temperatures are shown below Figure 40 Minicircuits GP2S Figure 41 Minicircuits SCN 3 16 PCB trace Power Splitter For operating temperatures of maxim...

Страница 43: ...ctive RF power levels expected to reach the RF input Is interference from wireless transmitters expected What are the characteristics of these signals duty cycle frequency range power range spectral p...

Страница 44: ...e UART1 interface is shown below Figure 43 Minimal ZED F9P design The UART1 interface that is connected to the Host will usually also have the RTCM3 messages required for RTK operation transferred on...

Страница 45: ...he VCC_RF voltage does not match with the supply voltage of the active antenna use a filtered external supply Figure 45 ZED F9P external voltage antenna bias The recommended circuit design for the act...

Страница 46: ...and need to be considered very carefully Signal loss on the RF connection from antenna to receiver input must be minimized as much as possible Hence the connection to the antenna must be kept as shor...

Страница 47: ...w color shows the copper etch dimensions the green color shows the solder mask opening dimensions and the red circles indicate vias Some PCB manufacturers prefer to adapt solder mask openings to their...

Страница 48: ...ZED F9P Integration Manual UBX 18010802 R01 5 Design Page 48 of 64 Objective Specification Confidential Figure 47 ZED F9P LGA mechanical dimensions...

Страница 49: ...ZED F9P Integration Manual UBX 18010802 R01 5 Design Page 49 of 64 Objective Specification Confidential Figure 48 ZED F9P LGA Solder mask dimensions...

Страница 50: ...ons 5 6 Layout Guidance Presented layout guidance reduces the risk of performance issues at design level with the ZED F9P high precision receiver 5 6 1 RF In trace The RF In trace has to work in the c...

Страница 51: ...receiver digital part towards your digital section of the system PCB and have the RF section and antenna placed as far as possible away from the other digital circuits on the board A proper GND conce...

Страница 52: ...he ground pads under the ZED F9P high precision receiver need to be grounded with vias to the lower ground layer of the PCB A solid ground layer fill on the Top layer of the PCB is recommended This is...

Страница 53: ...ual UBX 18010802 R01 5 Design Page 53 of 64 Objective Specification Confidential Figure 54 VCC pads 5 6 4 PCB stackup A typical PCB layer stackup for the ZED F9P high precision receiver is shown below...

Страница 54: ...preheat phase will not replace prior baking procedures Temperature rise rate max 3 C s If the temperature rise is too rapid in the preheat phase it may cause excessive slumping Time 60 120 s If the pr...

Страница 55: ...ean soldering paste and eliminate the cleaning step after the soldering Repeated reflow soldering Only single reflow soldering processes are recommended for boards populated with modules Modules shoul...

Страница 56: ...vide 100 protection for the module from coating liquids with low viscosity therefore care is required in applying the coating Conformal Coating of the module will void the warranty Casting If casting...

Страница 57: ...asurements in mm Figure 58 ZED F9P tape dimensions mm 6 3 Reels The ZED F9P high precision receiver GNSS modules are deliverable in quantities of 250 pieces on a reel The ZED F9P high precision receiv...

Страница 58: ...e Specification Confidential Package MSL Level LGA 4 Table 10 MSL Level For MSL standard see IPC JEDEC J STD 020 which can be downloaded from www jedec org For more information regarding moisture sens...

Страница 59: ...tion Azimuth Group Delay Variation in band 3 10 ns max each GNSS system bandwidth Note Inter signal requirement 50 ns max EMI immunity out of band 4 30 V m Out of band 5 Rejection 40 dB typ ESD Circui...

Страница 60: ...ffsets The final Phase center variation calibration will need to be done on the final vehicle with the antenna in its final location If the phase variation of a specific antenna is repeatable between...

Страница 61: ...ZED F9P Integration Manual UBX 18010802 R01 7 Antenna Page 61 of 64 Objective Specification Confidential Figure 61 Low cost antenna Band characteristics Figure 62 u blox low cost RTK antenna...

Страница 62: ...al 8 Related documents 1 ZED F9P Data sheet Docu No UBX 17051259 2 ZED F9P Interface Description Docu No UBX 18010853 3 u blox Package Information Guide Doc No UBX 14001652 For regular updates to u bl...

Страница 63: ...P Integration Manual UBX 18010802 R01 9 Revision history Page 63 of 64 Objective Specification Confidential 9 Revision history Revision Date Name Status Comments R01 22 May 2018 ghun Objective Specifi...

Страница 64: ...China Beijing Phone 1 703 483 3185 Phone 86 10 68 133 545 E mail support_us u blox com E mail info_cn u blox com Support support_cn u blox com Regional Office China Chongqing Phone 86 23 6815 1588 E...

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