Ublox ZED-F9R, Начало работы

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ZED-F9R - Application note
UBX-22035176 - R01 Contents Page 3 of 30
C1-Public
Contents
Document information ................................................................................................................................ 2
Contents .......................................................................................................................................................... 3
1 Introduction ............................................................................................................................................. 5
1.1 Required items ............................................................................................................................................. 5
1.1.1 Operational ZED-F9R module .......................................................................................................... 5
1.1.2 GNSS antenna requirements ........................................................................................................... 5
1.1.3 Host system ......................................................................................................................................... 6
1.1.4 Odometer data .................................................................................................................................... 6
1.1.5 Correction data ................................................................................................................................... 6
2 Communicating with the receiver in u-center ............................................................................. 7
2.1 Connecting the receiver with u-center ................................................................................................... 7
2.2 Updating the receiver firmware ............................................................................................................... 7
2.3 Storing configuration settings ................................................................................................................. 8
2.4 Modifying the receiver configuration in UBX-CFG-VALSET view ..................................................... 9
2.5 Modifying the receiver configuration in the Generation 9 Advanced Configuration view ........... 9
3 Installation ............................................................................................................................................ 11
3.1 Mounting the receiver ..............................................................................................................................11
3.2 Mounting the antenna .............................................................................................................................13
3.3 Connecting cables.....................................................................................................................................13
3.4 Setting up UART configuration ..............................................................................................................13
4 GNSS setup ........................................................................................................................................... 14
4.1 Verifying GNSS signals ............................................................................................................................14
4.2 Changing enabled constellations ..........................................................................................................15
5 RTK setup .............................................................................................................................................. 16
5.1 Setting up NTRIP client in u-center .......................................................................................................16
5.2 Setting up MQTT client in u-center .......................................................................................................17
5.3 Monitoring RTK status ............................................................................................................................18
6 Sensor fusion setup ........................................................................................................................... 19
6.1 Providing odometer data to the receiver ..............................................................................................19
6.1.1 Wheel ticks .........................................................................................................................................19
6.1.2 Speed ...................................................................................................................................................19
6.1.3 Data stream quality ..........................................................................................................................19
6.1.4 UBX-ESF-MEAS sample code ........................................................................................................20
6.2 Sensor fusion configuration ...................................................................................................................20
6.2.1 Dynamic platform model .................................................................................................................21
6.2.2 IMU-mount alignment .....................................................................................................................21
6.2.3 Setting up odometer configuration ..............................................................................................21
6.2.4 Navigation output rate ....................................................................................................................22
7 Calibration and testing ..................................................................................................................... 23
7.1 Initialization and calibration ...................................................................................................................23