Ublox ZED-F9R, Руководство по интеграции

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ZED-F9R - Integration manual
Contents
1 Integration manual structure............................................................................................ 6
2 System description...............................................................................................................7
2.1 Overview.................................................................................................................................................... 7
2.1.1 High precision sensor fusion (HPS)............................................................................................7
2.1.2 Priority navigation mode...............................................................................................................7
2.1.3 Real time kinematic......................................................................................................................8
2.2 Architecture..............................................................................................................................................8
2.2.1 Block diagram..................................................................................................................................8
3 Receiver functionality.......................................................................................................... 9
3.1 Receiver configuration........................................................................................................................... 9
3.1.1 Changing the receiver configuration..........................................................................................9
3.1.2 Default GNSS configuration.........................................................................................................9
3.1.3 Default interface settings..........................................................................................................10
3.1.4 Basic receiver configuration...................................................................................................... 10
3.1.5 RTCM corrections........................................................................................................................ 12
3.1.6 Navigation configuration............................................................................................................ 13
3.2 High precision sensor fusion (HPS).................................................................................................. 15
3.2.1 Introduction................................................................................................................................... 15
3.2.2 Solution type................................................................................................................................. 16
3.2.3 Installation configuration........................................................................................................... 16
3.2.4 Sensor configuration...................................................................................................................19
3.2.5 HPS system configuration......................................................................................................... 22
3.2.6 Operation....................................................................................................................................... 23
3.2.7 Priority navigation mode............................................................................................................ 31
3.3 Geofencing..............................................................................................................................................33
3.3.1 Introduction................................................................................................................................... 33
3.3.2 Interface......................................................................................................................................... 33
3.3.3 Geofence state evaluation......................................................................................................... 33
3.4 Communication interfaces................................................................................................................. 34
3.4.1 UART............................................................................................................................................... 35
3.4.2 I2C interface..................................................................................................................................36
3.4.3 SPI interface..................................................................................................................................39
3.4.4 USB interface................................................................................................................................ 40
3.5 Predefined PIOs.....................................................................................................................................41
3.5.1 D_SEL..............................................................................................................................................41
3.5.2 RESET_N........................................................................................................................................ 41
3.5.3 SAFEBOOT_N................................................................................................................................41
3.5.4 TIMEPULSE................................................................................................................................... 42
3.5.5 TX_READY..................................................................................................................................... 42
3.5.6 EXTINT............................................................................................................................................43
3.5.7 WT and DIR inputs...................................................................................................................... 43
3.5.8 GEOFENCE_STAT interface....................................................................................................... 43
3.5.9 RTK_STAT interface.....................................................................................................................44
3.6 Antenna supervisor.............................................................................................................................. 44
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