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Ublox ZED-F9P Integration Manual

F9 high precision gnss module
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ZED-F9P
u-blox F9 high precision 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-blox.com
UBX-18010802 - R01

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  • Page 1  ZED-F9P u-blox F9 high precision 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-blox.com UBX-18010802 - R01...
  • Page 2 ZED-F9P - Integration Manual Document Information Title ZED-F9P Subtitle u-blox F9 high precision GNSS module Document type Integration Manual Document number UBX-18010802 Revision and date 22-May-2018 Document Status Objective Specification - Confidential This document applies to the following products: Product name Type number...

  • Page 3: Table Of Contents

    1.1.1 RTK modes of operation.......................5 1.2 Typical ZED-F9P application setups....................6 1.2.1 ZED-F9P in a drone application....................6 1.2.2 ZED-F9P in a robotic mower application.................. 6 1.3 Default GNSS configuration......................... 6 1.4 RTCM3 corrections..........................7 1.5 Supported list of RTCM3 input messages..................7 1.6 Supported list of RTCM3 output messages..................
  • Page 4 4.2 In-band interference mitigation......................37 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 Package footprint, copper and solder mask................47 5.6 Layout Guidance...........................

  • Page 5: Overview

    1.1.1 RTK modes of operation The ZED-F9P supports two modes of operation: 1. ZED-F9P operating as a base: providing RTCM3 corrections to a ZED-F9P rover, or a network of ZED-F9P rovers. To configure a ZED-F9P as a base see section Base configuration.

  • Page 6: Typical Zed-F9P Application Setups

    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 rover in a short baseline robotic mower application 1.3 Default GNSS configuration The default GNSS configuration is: •...

  • Page 7: Rtcm3 Corrections

    ZED-F9P Interface Description [2]. 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.

  • Page 8: Supported List Of Rtcm3 Output Messages

    BeiDou MSM4 RTCM 1125 BeiDou MSM5 RTCM 1127 BeiDou MSM7 RTCM 1230 GLONASS code-phase biases Table 1: ZED-F9P supported input RTCM 3.3 messages 1.6 Supported list of RTCM3 output messages Message Description RTCM 1005 Stationary RTK reference station ARP RTCM 1077...

  • Page 9: Virtual Reference Station

    ZED-F9P - Integration Manual The relevant RTCM standard NTRIP V2 can be downloaded from the RTCM standards website: http://www.rtcm.org/differential-global-navigation-satellite--dgnss--standards.html 1.8 Virtual Reference Station In order for VRS to work the VRS Caster needs to know the location of the Rover receiver. To do this the Rover has to output the NMEA GGA message and this has to be sent to the VRS Caster.

  • Page 10: Configuration

    CFG-VALDEL messages. The early 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 instead of the older UBX-CFG messages.

  • Page 11: Message Output Configuration

    The default communication configuration of the UART1 port is set at a baud rate of 38400 baud with NMEA messages being output. The module will respond to incoming UBX binary commands. To see all the default configuration of ZED-F9P, please see the u-blox ZED-F9P Interface Description [2].

  • Page 12: Base Station: Mode Configuration

    1.9.5 Base station: Mode configuration To set a ZED-F9P as a base station it is necessary to set its coordinates. Once this is done, the ZED- F9P will operate as a base station and output the configured stream of RTCM messages.

  • Page 13: Base Station: Configuration Procedure Overview

    ZED-F9P - Integration Manual 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...
  • Page 14 ZED-F9P - Integration Manual • We need to enable some UBX messages to view the status of the base station and of the survey-in process. Select Group CFG-MSGOUT, Key name: CFG-MSGOUT-UBX and select the UART1 required messages. Add each message to the list and then set the value of each to 1.
  • Page 15 ZED-F9P - Integration Manual 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 CFG-UART1-BAUDRATE configuration item that controls the baudrate of UART1 UBX-18010802 - R01 1 Overview Page 15 of 64  ...
  • Page 16 ZED-F9P - Integration Manual Figure 8: 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 message view for setting the CFG-MSGOUT-* configuration items for enabling the output of some recommended UBX messages...
  • Page 17 ZED-F9P - Integration Manual Figure 10: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-TMODE-* configuration items required for performing a survey-in Figure 11: Base station: u-center packet console RTCM3 view UBX-18010802 - R01 1 Overview Page 17 of 64  ...

  • Page 18: Rover: Configuration Procedure Overview

    ZED-F9P - Integration Manual Figure 12: Base station: u-center data view in TIME mode 1.9.7 Rover: Configuration procedure overview This overview describes how to set the rover 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.
  • Page 19 ZED-F9P - Integration Manual Figure 13: u-center UBX-CFG-VALSET message view Figure 14: Example u-center UBX-CFG-VALSET message view when selecting a configuration item UBX-18010802 - R01 1 Overview Page 19 of 64   Objective Specification - Confidential...
  • Page 20 ZED-F9P - Integration Manual 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 for setting the CFG-MSGOUT-* configuration items for enabling the output of some recommended UBX messages...

  • Page 21: Legacy Command Configuration

    The early 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 instead of the older UBX-CFG messages. The new messages that should be used are the UBX-CFG-VALSET, UBX-CFG-VALGET, and UBX- CFG-VALDEL messages and are supported on the early Beta firmware.

  • Page 22: Base Configuration

    ZED-F9P - Integration Manual 1.10.1 Base configuration To configure the module for base operation the following procedure needs to be carried out: • Set the UART1 interface for the correct Host baud rate and ensure RTCM3 output protocol has been enabled using the UBX-CFG-PRT message. Please see Figure 19 •...
  • Page 23 ZED-F9P - Integration Manual Figure 20: Base u-center UART1 UBX-CFG-MSG view Figure 21: Base u-center UBX-CFG-TMODE3 view UBX-18010802 - R01 1 Overview Page 23 of 64   Objective Specification - Confidential...

  • Page 24: Rover Configuration

    ZED-F9P - Integration Manual Figure 22: Base u-center packet console RTCM3 view 1.10.2 Rover configuration For rover operation the following procedure needs to be carried out: • Set the UART1 interface for the correct Host baud rate and ensure RTCM3 input protocol has been enabled using UBX-CFG-PRT message.

  • Page 25: Rover Vrs Configuration

    ZED-F9P - Integration Manual 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 UART1 and NMEA GGA message enabled on UART1. Please see Figure 26...

  • Page 26: Default Messages

    ZED-F9P - Integration Manual Figure 26: Rover u-center UBX-CFG-PRT view Figure 27: Rover u-center UBX-CFG-MSG view 1.11 Default messages Interface Settings UART1 Output 38400 Baud, 8 bits, no parity bit, 1 stop bit. Configured to transmit NMEA, UBX, RTCM3 protocols. But only the following NMEA (and no UBX) messages have been activated at start- up: GGA, GLL, GSA, GSV, RMC, VTG, TXT.
  • Page 27 Refer to the u-blox ZED-F9P Interface Description [2] for information about further settings. The ZED-F9P outputs NMEA 4.1 messages that includes satellite data for all GNSS bands being received. This results in many more NMEA messages being output for each navigation period.

  • Page 28: Hardware Description

    The VCC pin provides the main supply voltage. During operation, the current drawn by the module can vary by some orders of magnitude. For this reason, it is important that the supply circuitry be able to support the peak power for a short time (see the u-blox u-blox ZED-F9P Data sheet [1] for specification).

  • Page 29: V_Bckp: Backup Supply Voltage

    If no backup supply voltage is available, connect the V_BCKP pin to VCC. As long as power is supplied to the ZED-F9P module through the VCC pin, the backup battery is disconnected from the RTC and the BBR to avoid unnecessary battery drain. In this case, VCC supplies power to the RTC and BBR.

  • Page 30: Interfaces

    The ZED-F9P high precision receiver has a D_SEL pin that allows the selection between UART1 and SPI interface at power On. By default with D_SEL not connected or pulled up, the ZED-F9P is using UART1 interface and DDC and there is no SPI interface.

  • Page 31: Reset_N Interface

    ZED-F9P - Integration Manual 2.3.4 RESET_N interface The ZED-F9P high precision receiver provides a RESET_N pin to reset the system. The RESET_N pin is an input-only pin with an internal pull-up resistor. It is recommended that if a Reset is required that this input be pulled to a low level for at least 100 ms.

  • Page 32: Display Data Channel (Ddc)

    ZED-F9P - Integration Manual Figure 30: V_USB connected to VCC Figure 31: ZED-F9P USB_DM and USB_DP pins For connecting the debug USB interface to external equipment additional components are required such as filtering and a connector Figure 32: External debug USB interface 2.3.9 Display Data Channel (DDC)

  • Page 33: Extint

    ANT_DET_N, ANT_OFF, ANT_SHORT_N pins. For an example the open circuit detection circuit using ANT_DET_N, "high" = Antenna detected (antenna consumes current); "low" = Antenna not detected (no current drawn). Figure 33: ZED-F9P Antenna Supervisor 2.3.11 EXTINT EXTINT is an external interrupt pin with fixed input voltage thresholds with respect to VCC. They can be used for aiding.

  • Page 34: Eos/Esd/Emi Precautions

    EOS/ESD/EMI handling and protection measures. Attention To prevent overstress damage at the RF_IN of your receiver, never exceed the maximum input power as specified in the u-blox ZED-F9P Data sheet [1]. 3.1 ESD handling precautions Attention ZED-F9P high precision receivers contain highly sensitive electronic circuitry and are Electrostatic Sensitive Devices (ESD).

  • Page 35: Eos Precautions

    Figure 35: Active antenna EOS protection 3.4 Safety precautions The ZED-F9P must be supplied by an external limited power source in compliance 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 including interfaces and antennas.

  • Page 36: Electromagnetic Interference On I/O Lines

    EMI. It is recommended that EMI filters or resistors are placed on the I/O lines as shown below: Figure 36: ZED-F9P EMI protection Intended Use: In order to mitigate any performance degradation of a radio equipment under EMC disturbance, system integration shall adopt appropriate EMC design practice and not contain cables over three meters on signal and supply ports.

  • Page 37: In-Band Interference Mitigation

    ZED-F9P - Integration Manual • Out-of-band interference: Typically any kind of wireless communications system (e.g. LTE, GSM, CDMA, 3G, WLAN, Bluetooth, etc.) may emit its specified maximum transmit power in close proximity to the GNSS receiving antenna, especially if such a system is integrated with the GNSS receiver.
  • Page 38 ZED-F9P - Integration Manual 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 additional SAW filter is required on the GNSS receiver input to block the remaining GSM transmitter energy.

  • Page 39: Design

    ZED-F9P - Integration Manual 5 Design 5.1 Pin assigment The pin assignment of the ZED-F9P module is shown in Figure 37. The defined configuration of the PIOs is listed in Table Figure 37: ZED-F9P pin assignment Pin No Name Description Ground RF_IN_1...
  • Page 40 ZED-F9P - Integration Manual Pin No Name Description Reserved Reserved Reserved Reserved Reserved Reserved Ground Reserved Reserved Ground Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved GEOFENCE_STAT Geofence status, user defined RTK_STAT RTK status 0 – Fixed, blinking – receiving RTCM data, 1 – no corrections...

  • Page 41: Rf Front-End Circuit Options

    Separate RF IN system Figure 38: ZED-F9P and NEO-D9 RF IN For a separate RF IN system the L-Band antenna might be separate from the GNSS antenna. The L-Band antenna must meet the signal specification for the NEO-D9 module being used.
  • Page 42 ZED-F9P - Integration Manual Figure 39: SMD splitter layout Suitable band 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 maximum +125 Degrees Celcius suitable band power dividers might be difficult to find.
  • Page 43 ZED-F9P - Integration Manual is not a simple task and requires RF simulation and RF design expertise. It is important that the PCB trace design uses a minimum amount of L/C passive components as these can cause dramatic variation over temperature and component tolerance. Montecarlo 250 simulations and 5% (Gaussian) component tolerances need to be run to confirm the affects of these L/C components.

  • Page 44: Zed-F9P Minimal Design

    If the customers do not want to make use of the Antenna Supervisor function and the supply voltage of the ZED-F9P module matches the supply voltage of the antenna (e.g. 3.0 V), they can use the filtered supply voltage VCC_RF output to supply the antenna. However a 10 Ohm current limiting resistor is required to prevent against short circuits destroying the BIAS-T inductor.
  • Page 45 If the 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 active antenna bias using an external voltage and current limiting circuit is shown below.

  • Page 46: Layout

    Figure 46: ZED-F9P antenna bias 5.5 Layout This section details layout and placement requirements of the ZED-F9P high precision receiver. 5.5.1 Placement GNSS signals at the surface of the Earth are about 19 dB below the thermal noise floor. A very important factor in achieving maximum GNSS performance is the placement of the receiver on the PCB.

  • Page 47: Package Footprint, Copper And Solder Mask

    ZED-F9P - Integration Manual 5.5.2 Package footprint, copper and solder mask Copper and solder mask dimensioning recommendations for the ZED-F9P high precision receiver packages are provided in this section. For all packages, the yellow color shows the copper (etch) dimensions, the green color shows the solder mask opening dimensions and the red circles indicate vias.
  • Page 48 ZED-F9P - Integration Manual Figure 47: ZED-F9P LGA mechanical dimensions UBX-18010802 - R01 5 Design Page 48 of 64   Objective Specification - Confidential...
  • Page 49 ZED-F9P - Integration Manual Figure 48: ZED-F9P LGA Solder mask dimensions UBX-18010802 - R01 5 Design Page 49 of 64   Objective Specification - Confidential...

  • Page 50: Layout Guidance

    ZED-F9P - Integration Manual Figure 49: ZED-F9P LGA Paste mask dimensions 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 combined GNSS L1 + L2 signal band. This requires the center frequency for a 50 Ohm trace to be calculated midband of the GNSS receiver bandwidth.
  • Page 51 ZED-F9P - Integration Manual Bandwidth of the Multi-band GNSS receiver is from 1197 MHz to 1608 MHz. The mid band of this would be 1402 MHz. We then calculate the micrsostrip trace width for 50 Ohm at 1402 MHz. For FR-4 PCB material with a Dielectric permativity of for example 4.7 we can calculate the trace width at 1402 MHz for 50 Ohm impedance.

  • Page 52: Vias For The Ground Pads

    ZED-F9P - Integration Manual The RF in trace on the Top layer should be referenced to Layer 2 (Ground). However the ZED-F9P high precision receiver RF IN pad should have a slot surrounding it in the layer 2 Ground layer as shown below.

  • Page 53: Pcb Stackup

    ZED-F9P - Integration Manual Figure 54: VCC pads 5.6.4 PCB stackup A typical PCB layer stackup for the ZED-F9P high precision receiver is shown below: Figure 55: PCB Stackup UBX-18010802 - R01 5 Design Page 53 of 64   Objective Specification - Confidential...

  • Page 54: Product Handling

    ZED-F9P - Integration Manual 6 Product handling 6.1 Soldering Soldering Paste Use of “No Clean” soldering paste is highly recommended, as it does not require cleaning after the soldering process has taken place. The paste listed in the example below meets these criteria.
  • Page 55 ZED-F9P - Integration Manual Figure 56: Soldering Profile Modules must not be soldered with a damp heat process. Optical inspection After soldering the module, consider an optical inspection step to check whether: • Cleaning with water will lead to capillary effects where water is absorbed in the gap between the baseboard and the module.

  • Page 56: Tapes

    Ultrasonic Processes. 6.2 Tapes Figure 57 shows the feed direction and illustrates the orientation of the ZED-F9P high precision receivers on the tape: UBX-18010802 - R01 6 Product handling Page 56 of 64  ...

  • Page 57: Reels

    The ZED-F9P high precision receiver GNSS modules are deliverable in quantities of 250 pieces on a reel. The ZED-F9P high precision receiver receivers are shipped on Reel Type B, as specified in the u-blox Package Information Guide. Please see the u-blox Package Information Guide [3].
  • Page 58 ZED-F9P - Integration Manual Package MSL Level 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 sensitivity levels, labeling, storage and drying, see the u-blox Package Information Guide [3]. UBX-18010802 - R01...

  • Page 59: Antenna

    ESD Circuit Protection 15 kV human body model air discharge Table 11: Antenna Specifications for ZED-F9P modules The antenna system should include filtering to ensure adequate protection from nearby transmitters. Care should be taken in the selection of antennas placed close to cellular or WiFi transmitting antennas.
  • Page 60 ZED-F9P - Integration Manual Figure 59: Stacked patch antenna It is important to note that the absolute position of the antenna placement needs to be calculated from the L1/L2 phase-variation. The L1 and L2 patch phase centers must vary to a minimum. The final Antenna Reference point or ARP is what is then used to calculate the actual precise antenna position.
  • Page 61 ZED-F9P - Integration Manual Figure 61: Low cost antenna Band characteristics Figure 62: u-blox low cost RTK antenna UBX-18010802 - R01 7 Antenna Page 61 of 64   Objective Specification - Confidential...

  • Page 62: Related Documents

    ZED-F9P - Integration Manual 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-blox documentation and to receive product change notifications please register on our homepage (http://www.u-blox.com).

  • Page 63: Revision History

    ZED-F9P - Integration Manual 9 Revision history Revision Date Name Status / Comments 22-May-2018 ghun Objective Specification UBX-18010802 - R01 9 Revision history Page 63 of 64   Objective Specification - Confidential...
  • Page 64 ZED-F9P - Integration Manual Contact For complete contact information visit us at www.u-blox.com. u-blox Offices North, Central and South America Headquarters Asia, Australia, Pacific   Europe, Middle East, Africa u-blox America, Inc. u-blox AG u-blox Singapore Pte. Ltd. Phone: +1 703 483 3180...

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