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ZED-F9R - Integration manual

3.2.3.1.1 Automatic IMU-mount alignment

The automatic IMU-mount alignment engine automatically estimates the IMU-mount roll, pitch and
yaw angles. It requires an initialization phase during which no INS/GNSS fusion can be achieved
(see the

Fusion ﬁlter modes

section for further details). The progress of the automatic alignment

initialization can be monitored with the UBX-ESF-STATUS message, and/or with the UBX-ESF-ALG
message  providing  more  details.  When  the  vehicle  is  subject  to  suﬃcient  dynamics  (i.e.  left  and
right turns during a normal drive), the automatic IMU-mount alignment engine will estimate the
IMU-mount misalignment angles. Once the automatic IMU-mount alignment engine has suﬃcient
conﬁdence  in  the  estimated  angles,  the  IMU-mount  misalignment  angles  initialization  phase  is
completed.  The  raw  accelerometer  and  gyroscope  data  (that  is,  the  IMU  observations)  are  then
compensated for IMU-mount misalignment and sensor fusion can begin. The resulting IMU-mount
misalignment angles are output in the UBX-ESF-ALG message.

3.2.3.1.1.1 Enabling/disabling automatic IMU-mount alignment

The user can activate/deactivate the automatic IMU-mount alignment with the CFG-SFIMU-
AUTO_MNTALG_ENA conﬁguration key.

If automatic IMU-mount alignment is deactivated while aligning, the estimated
misalignment angles that were available at deactivation time are used (only if they were
initialized, see the next section). If automatic IMU-mount alignment is re-activated,
alignment is pursued by starting from the state where deactivation happened.

3.2.3.1.2 User-deﬁned IMU-mount alignment

It is possible to conﬁgure the IMU-mount misalignment angles using the CFG-SFIMU-IMU_MNTALG
conﬁguration keys. The values that should be set in the conﬁguration message are the Euler angles
required to rotate the installation-frame to the IMU-frame. The IMU-mount yaw rotation should be
performed ﬁrst, then the IMU-mount pitch and ﬁnally the IMU-mount roll. At each stage, the rotation
is around the appropriate axis of the transformed installation frame, meaning that the order of the
rotation sequence is important (see the ﬁgure below).

Figure 2: Euler angles

UBX-20039643 - R01

3 Receiver functionality

Page 17 of 105

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Advance information

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Содержание ZED-F9R

Страница 1: ...manual Abstract This document describes how to enable a successful design with the ZED F9R module It provides reliable multi band RTK turnkey solution with up to 30 Hz real time position update rate...

Страница 2: ...art be subject to 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 pro...

Страница 3: ...ensor fusion HPS 15 3 2 1 Introduction 15 3 2 2 Solution type 16 3 2 3 Installation con guration 16 3 2 4 Sensor con guration 19 3 2 5 HPS system con guration 22 3 2 6 Operation 23 3 2 7 Priority navi...

Страница 4: ...10 1 Spoo ng detection monitoring 61 3 10 2 Jamming interference indicator 62 3 10 3 GNSS receiver integrity 63 3 11 u blox protocol feature descriptions 63 3 11 1 Broadcast navigation data 63 3 12 F...

Страница 5: ...89 4 9 5 Ground pads 90 4 9 6 Schematic design 90 4 9 7 Layout design in guideline 90 5 Product handling 91 5 1 ESD handling precautions 91 5 2 Soldering 91 5 3 Tapes 94 5 4 Reels 95 5 5 Moisture sens...

Страница 6: ...oyed 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 from...

Страница 7: ...during production ZED F9R o ers support for a range of correction services allowing each application to optimize performance according to the application s unique needs ZED F9R comes with built in sup...

Страница 8: ...time to rst x and robust performance with multi band multi constellation reception Compatible with leading correction services for global coverage and versatility 2 2 Architecture The ZED F9R receive...

Страница 9: ...message elds reference section in the ZED F9R Interface description 2 Con guration interface settings are held in a database consisting of separate con guration items An item is made up of a pair cons...

Страница 10: ...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 unless D_SEL pin is set to...

Страница 11: ...ration group Some messages such as UBX MON VER are non periodic and will only be output as an answer to a poll request The UBX INF and NMEA Standard TXT information messages are non periodic output me...

Страница 12: ...0403 3 Di erential GNSS Global Navigation Satellite Systems Services Version 3 October 7 2016 The RTCM speci cation is currently at version 3 3 and RTCM version 2 messages are not supported by this st...

Страница 13: ...treaming correction data from the NTRIP caster to apply as real time corrections to a GNSS receiver u center GNSS evaluation software provides an NTRIP client application that can help to evaluate a Z...

Страница 14: ...locity 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...

Страница 15: ...Important Users are recommended to check the gnssFixOK ag in the UBX NAV PVT or the NMEA valid ag Fixes not marked valid should not be used UBX NAV STATUS message also reports whether a x is valid in...

Страница 16: ...ter value of a wheel tick sensor cannot be represented as a power of 2 value it must be con gured manually See section Odometer Types for additional information It is strongly recommended that RTCM st...

Страница 17: ...tput in the UBX ESF ALG message 3 2 3 1 1 1 Enabling disabling automatic IMU mount alignment The user can activate deactivate the automatic IMU mount alignment with the CFG SFIMU AUTO_MNTALG_ENA con g...

Страница 18: ...the installation frame to the IMU frame yaw 344 0 degrees if the IMU mount misalignment is composed of a single rotation around the installation frame z axis that is with no IMU mount roll and IMU mou...

Страница 19: ...r data can be delivered to the receiver over one of the communication interfaces The data shall be contained in UBX ESF MEAS messages UBX ESF MEAS data type 10 shall be used for single tick odometer d...

Страница 20: ...onsistent data rate and can take several minutes Once initialized the sampling frequency will be stored in a non volatile storage For optimal navigation performance the standard wheel tick speed input...

Страница 21: ...er wants to input odometer data with UBX ESF MEAS messages it is essential that the odometer time tag has a resolution of 1 millisecond 3 2 4 2 1 First byte reception The easiest way to determine the...

Страница 22: ...SFCORE SEN_TTAG_FACT This parameter can be used to convert the sensor time tags from their original time unit into the required seconds It has a resolution of 1 micro second The default value is 1000...

Страница 23: ...after a receiver cold start or a lter reset in case of fusion failure The receiver is in initialization mode if the fusionMode eld in the UBX ESF STATUS message is 0 INITIALIZING In this case the requ...

Страница 24: ...or timeout of more than 500 ms will trigger an INS re initialization Note that initialization phase requires good GNSS signal conditions as well as periods during which vehicle is stationary and movin...

Страница 25: ...encountered by the vehicle You can shorten the initialization time required for reaching the fused navigation mode by following the procedure in the order described in the table below Phase Procedure...

Страница 26: ...a case fused navigation solution uncertainty increases until optimal conditions are observed again for re calibrating the sensors In the presence of signi cant temperature gradient a ecting the gyros...

Страница 27: ...ated by the automatic IMU mount alignment engine are no longer valid for example due to a change in the physical mounting of the device the IMU mount misalignment angles can be reset by sending a UBX...

Страница 28: ...e vehicle frame is a right handed 3D Cartesian frame rigidly connected with the vehicle and is used to determine the attitude of the vehicle with respect to the local level frame It has the following...

Страница 29: ...output The order of the sequence of rotations around the navigation axes de ning the vehicle attitude matrix in terms of vehicle attitude angles is illustrated below UBX 20039643 R01 3 Receiver functi...

Страница 30: ...mics information that is directly compensated by the fusion lter This implies that depending on the solution type and the sensor availability dynamics along some axes of the vehicle frame might not be...

Страница 31: ...are the same as described in the Sensor Data Types section The measurements are made at a xed rate The sampling rate or other sensor con guration options cannot be changed and depends on the output r...

Страница 32: ...ta High 0 30 Hz Con gurable NMEA Standard VTG Course over ground and ground speed High 0 30 Hz Con gurable NMEA Standard GNS GNSS x data High 0 30 Hz Con gurable NMEA Standard GGA Global positioning s...

Страница 33: ...el 3 3 Geofencing 3 3 1 Introduction Figure 8 Geofence The geofencing feature allows for the con guration of up to four circular areas geofences on the Earth s surface The receiver will then evaluate...

Страница 34: ...measurements monitor status information and con gure the receiver A protocol e g UBX NMEA can be assigned to several ports simultaneously each con gured with individual settings e g baud rate message...

Страница 35: ...can be used as a host interface for con guration monitoring and control UART2 is available as an optional stand alone RTCM interface and cannot be used as a host interface The UART RX interface will...

Страница 36: ...nd the load on the I2C lines additional external pull up resistors may be necessary To use the I2C interface D_SEL pin must be left open In designs where the host uses the same I2C bus to communicate...

Страница 37: ...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 38: ...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 39: ...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 process is re enabled with the rst byte not...

Страница 40: ...ted to a USB host USB suspend mode is not supported USB bus powered mode is not supported It is important to connect V_USB to ground and leave data lines open when the USB interface is not used in an...

Страница 41: ...h an internal pull up resistor Driving RESET_N low for at least 100 ms will trigger a cold start The RESET_N pin will delete all information and trigger a cold start It should only be used as a recove...

Страница 42: ...PIOs which are not in use see UBX MON HW3 in the ZED F9R Interface Description 2 for a list of the PIOs and their mapping Each TX_READY pin is exclusively associated to one port and cannot be shared...

Страница 43: ...l indicate whether the vehicle is moving forwards or backwards By default the DIR pin polarity is automatically initialized once the vehicle has reached required minimum speed of 30 km h The DIR pin p...

Страница 44: ...hat 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 PVT and interpreted as follows An active low pin level indic...

Страница 45: ...ER X7R 0402 10N 10 16V TYCO 0 25PF PESD0402 140 55 125C ESD protection diode on RF trace Table 17 Recommended components for antenna supervisor 3 6 1 Antenna voltage control ANT_OFF Antenna status as...

Страница 46: ...efault 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 on...

Страница 47: ...gh therefore PIO is high PIO pull up enabled to be pulled low if antenna not detected Start 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...

Страница 48: ...cantly improve time to rst x TTFF There are several ways in which a u blox receiver can retain useful data while it is powered down including Battery backed RAM The receiver can be supplied with su ci...

Страница 49: ...ystem 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 the da...

Страница 50: ...ssistance data being sent and the nature of the communications link e g baud rate of serial link u blox recommends that when customers are developing their host software they start by sending all assi...

Страница 51: ...onsv String Optional A comma separated list of u blox gnssId svId pairs The ephemeris data returned to the client will only contain data for the listed satellites Table 18 AssistNow Online parameter k...

Страница 52: ...checked The following outlines the suggested shutdown procedure when using the save on shutdown feature With the UBX CFG RST message the host commands the u blox receiver to stop specifying reset mode...

Страница 53: ...as a navigation epoch If the navigation solution attempt is successful one of the results is an accurate measurement of time in the time base of the chosen GNSS system called GNSS system time The di...

Страница 54: ...mended to use the iTOW eld for any other purpose The original designers of GPS chose to express time date as an integer week number starting with the rst full week in January 1980 and a time of week o...

Страница 55: ...y it is normally reported with two decimal places e g 124923 52 Although compatibility mode selected using CFG NMEA COMPAT requires three decimal places rounding to the nearest hundredth of a second r...

Страница 56: ...rent time within their data message In most cases this is a time of week often abbreviated to TOW which indicates the elapsed number of seconds since the start of the week midnight Saturday Sunday In...

Страница 57: ...er week number appropriately when supplying u blox receivers with simulated signals especially when the scenarios are in the past 3 9 10 Time pulse 3 9 10 1 Introduction u blox receivers include a tim...

Страница 58: ...or example GPS supports a variant of UTC as de ned by the US National Observatory while BeiDou uses UTC from the National Time Service Center China NTSC While the di erent UTC variants are normally cl...

Страница 59: ...ted as frequency or period length ratio type Determines whether the time pulse length is interpreted as length us or pulse ratio antenna cable delay Signal delay due to the cable between the antenna a...

Страница 60: ...iver can be used to provide an accurate measurement of the time at which a pulse was detected on the external interrupt pin The reference time can be chosen by setting the time source parameter to UTC...

Страница 61: ...iew 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 detection mitigation...

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: ...guration layer For more information on the con guration layers including the order of priority they are applied in see the ZED F9R Interface description 2 The con guration lockdown set on a con gurati...

Страница 64: ...ts UBX RXM SFRBX messages are only generated when complete subframes are detected by the receiver and all appropriate parity checks have passed Where the parity checking algorithm requires data to be...

Страница 65: ...5 is the idle chip which should always have a value of zero The meaning of other bits varies with string and frame number The fourth and nal 32 bit word in the UBX RXM SFRBX message contains frame and...

Страница 66: ...the BeiDou ICD Each subframe comprises ten data words which are reported in the same order they are received Each word is arranged as follows Figure 27 BeiDou subframe word Note that as the BeiDou da...

Страница 67: ...ontains a pair of I NAV pages as described in the Galileo ICD Galileo pages can either be Nominal or Alert pages For Galileo Nominal pages the eight words are arranged as follows Figure 28 Galileo E1...

Страница 68: ...ndicated by the Galileo ICD 3 11 1 5 2 Galileo E5b For the Galileo E5b in phase signal data component each reported subframe contains a pair of I NAV pages as described in the Galileo ICD Galileo page...

Страница 69: ...SBAS For SBAS L1C A signals each reported subframe contains eight 32 bit data words to deliver the 250 bits transmitted in each SBAS data block The eight words are arranged as follows UBX 20039643 R0...

Страница 70: ...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 10 12s GPS L2CM 0 4 10 12s Galileo E1 C 2 0 8 2s Galileo E1 B 2 1 8 2s Galileo E5 bl...

Страница 71: ...method Using the UBX CFG RST message you can force the receiver to reset and clear data in order to see the e ects of maintaining losing such data between restarts For this the UBX CFG RST message o e...

Страница 72: ...isted in Table 23 The ZED F9R is an LGA package with the I O on the outside edge and central ground pads Figure 31 ZED F9R pin assignment Pin no Name I O Description 1 GND Ground 2 RF_IN I RF input 3...

Страница 73: ...D 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 power input 39 USB_DM I O USB data 40 USB_DP I O USB data 4...

Страница 74: ...For the ZED F9R module the equipment must be supplied by an external limited power source in compliance with the clause 2 5 of the standard IEC 60950 1 4 2 2 V_BCKP Backup supply voltage The V_BCKP pi...

Страница 75: ...R 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 currents...

Страница 76: ...p battery to V_BCKP If USB is not used connect V_USB to ground Ensure an optimal ground connection to all ground pins of the ZED F9R GNSS module If antenna bias is required see ZED F9R antenna bias se...

Страница 77: ...OR DIODE FAIRCHILD BZX84 SOT23 6V2 0 2A D2 VOLTAGE REGULATOR DIODE FAIRCHILD BZX84 SOT23 6V2 0 2A O1 OPTOCOUPLER LVTTL LVCMOS COMPATIBLE AVAGO HCPL 070L 000E SO8 O2 OPTOCOUPLER LVTTL LVCMOS COMPATIBLE...

Страница 78: ...e 4 dB L1 band antenna gain 3 1559 1606 MHz 3 dBic typ L2 E5b band antenna gain 3 1197 1249 MHz 2 dBic typ Polarization RHCP Axial ratio 2 dB max at Zenith Phase center variation 10 mm over elevation...

Страница 79: ...bias t inductor must be chosen for multi band operation a value of 47 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 ba...

Страница 80: ...d the important points covered below need to be taken into account Figure 38 ZED F9R VCC_RF antenna bias The bias t inductor and current limiting resistor must be selected to be reliable with a short...

Страница 81: ...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 82: ...pliance with the clause 2 5 of the standard IEC 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 includin...

Страница 83: ...band at levels much higher than the GNSS signal 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 t...

Страница 84: ...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 receiver as well as grounding shielding and interference f...

Страница 85: ...odule packages are provided in this section These are recommendations only and not speci cations The exact copper solder and paste mask geometries distances stencil thickness and solder paste volumes...

Страница 86: ...aterial 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 shielding...

Страница 87: ...id ground layer ll on the top layer of the PCB is recommended This is shown in the gure below Figure 45 Top layer ll and vias 4 8 4 3 VCC pads The VCC pads for the ZED F9R high precision sensor fusion...

Страница 88: ...gn chapter for more information on the power supply requirements Allow all I O to Float High impedance High Z when VCC is not applied 4 9 2 Backup battery Check backup supply requirements and schemati...

Страница 89: ...oldered to the GNSS receiver board In such cases use of external protection in front of RF_IN is mandatory to avoid device destruction ESD discharge cannot be avoided during assembly and or eld use No...

Страница 90: ...u need hot or warm start in your application connect a backup battery to V_BCKP 4 9 7 Layout design in guideline Is the receiver placed away from heat sources Is the receiver placed away from air cool...

Страница 91: ...a 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 ESD safe...

Страница 92: ...es 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 24...

Страница 93: ...nal upright re ow cycle A module placed on the underside of the board may detach during a re ow soldering cycle due to lack of adhesion The module can also tolerate an additional re ow cycle for re w...

Страница 94: ...of ultrasonic processes Some components on the module are sensitive to ultrasonic waves Use of any ultrasonic processes cleaning welding etc may cause damage to the GNSS receiver u blox o ers no warr...

Страница 95: ...5 Moisture sensitivity levels The moisture sensitivity level MSL for ZED F9R is speci ed in the table below Package MSL level LGA 4 Table 26 MSL level For MSL standard see IPC JEDEC J STD 020 which c...

Страница 96: ...ion satellite system GPS Global Positioning System GSM Global System for Mobile Communications I2C Inter integrated circuit bus IEC International Electrotechnical Commission IMU Inertial measurement u...

Страница 97: ...an Terrestrial Reference Frame ETRF ITRF is a realization of ITRS done every few years Latest realizations of ITRF are ITRF2008 and ITRF2014 ETRF is a realization of ETRS89 done every few years Latest...

Страница 98: ...ct Group CFG UART1 Key name CFG UART1 BAUDRATE See Figure 50 Figure 50 u center UBX CFG VALSET message view 2 Select Add to List it will appear in the table below UBX 20039643 R01 Appendix Page 98 of...

Страница 99: ...ing the current value See Figure 51 Figure 51 Example u center UBX CFG VALSET message view when selecting a con guration item 4 Add the value for example 230400 into the Value window that appears belo...

Страница 100: ...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 receiver status 1 Se...

Страница 101: ...items for enabling the output of some recommended UBX messages 4 To ensure all the required RTCM messages including most importantly RTCM 1005 are being received regularly examine the UBX RXM RTCM ou...

Страница 102: ...to Fixed mode See Figure 55 Figure 55 u center data view with RTK Fixed UBX NAV SOL is shown however it is no longer supported on this platform If using a virtual reference service the receiver must b...

Страница 103: ...UBX 19056845 3 Packaging information for u blox chips modules and antennas UBX 14001652 For regular updates to u blox documentation and to receive product change noti cations please register on our h...

Страница 104: ...F9R Integration manual Revision history Revision Date Name Status comments R01 11 Nov 2020 ssid Advance information HPS 1 20 UBX 20039643 R01 Revision history Page 104 of 105 C1 Public Advance informa...

Страница 105: ...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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