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u-blox 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 application of the ZED-F9P, a
multi-band GNSS module with integrated RTK offering centimeter level
accuracy.
www.u-blox.com
UBX-18010802 - R08

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Summary of Contents for u-blox ZED-F9P

  • Page 1  ZED-F9P u-blox F9 high precision GNSS module Integration manual Abstract This document describes the features and application of the ZED-F9P, a multi-band GNSS module with integrated RTK offering centimeter level accuracy. www.u-blox.com UBX-18010802 - R08...
  • Page 2 The information contained herein is provided "as is" and u-blox assumes no liability for the use of the information. No warranty, either express or implied, is given with respect to, including but not limited to, the accuracy, correctness, reliability and fitness...

  • Page 3: Table Of Contents

    2 System description.......................7 2.1 Overview..............................7 2.1.1 Real time kinematic........................7 2.2 Architecture..............................8 2.2.1 Block diagram..........................8 2.2.2 Typical ZED-F9P application setups..................8 3 Receiver functionality......................11 3.1 Receiver configuration......................... 11 3.1.1 Changing the receiver configuration..................11 3.1.2 Default GNSS configuration...................... 11 3.1.3 Default interface settings......................12 3.1.4 Basic receiver configuration......................
  • Page 4 3.12 Security..............................61 3.12.1 Spoofing detection / monitoring.................... 61 3.12.2 Jamming/interference indicator.................... 62 3.12.3 GNSS receiver integrity......................63 3.13 u-blox protocol feature descriptions....................63 3.13.1 Broadcast navigation data...................... 63 3.14 Forcing a receiver reset........................70 3.15 Spectrum analyzer..........................70 4 Design............................. 71 4.1 Pin assignment............................71...
  • Page 5 ZED-F9P - Integration manual 4.7 Layout..............................82 4.7.1 Placement............................82 4.7.2 Package footprint, copper and paste mask................82 4.7.3 Layout guidance........................... 84 4.8 Design guidance............................86 4.8.1 General considerations....................... 86 4.8.2 Backup battery..........................86 4.8.3 RF front-end circuit options...................... 86 4.8.4 Antenna/RF input........................87 4.8.5 Ground pads..........................

  • Page 6: Integration Manual Structure

    ZED-F9P - Integration manual 1 Integration manual structure This document provides a wealth of information to enable a successful design with the ZED-F9P module. The manual is structured according to system, software and hardware aspects. The first section, "System description" outlines the basics of enabling RTK operation with the ZED- F9P.

  • Page 7: System Description

    2.1.1.1 Modes of operation The ZED-F9P supports the following modes of operation: ZED-F9P operating as a base: It provides RTCM correction data to a ZED-F9P rover, or to a network of ZED-F9P rovers. ZED-F9P operating as a rover: It receives RTCM correction data from a ZED-F9P operating as a base, or from a virtual reference service provider operating a network of base receivers.

  • Page 8: Architecture

    NTRIP client and server application that can be used to easily evaluate a ZED-F9P base or rover. Typically a u-center NTRIP client connects over the internet to an NTRIP service provider. The u-center NTRIP client then provides the RTCM 3.3 corrections to a ZED-F9P rover connected to the local u-center application.
  • Page 9 The moving base feature also enables derivation of the vehicle orientation by mounting two or three GNSS receivers on the same vehicle platform, i.e. by fixing the position of the GNSS antennas relative to each other. Figure 3: ZED-F9P base and rover in a short baseline drone application UBX-18010802 - R08 2 System description Page 9 of 110  ...
  • Page 10 ZED-F9P - Integration manual Figure 4: ZED-F9P base and rover in a short baseline robotic mower application Figure 5: ZED-F9P orientation of a vehicle in space UBX-18010802 - R08 2 System description Page 10 of 110   Early production information...

  • Page 11: Receiver Functionality

    RAM holds the current configuration, which is used by the receiver at run-time. It is constructed on start-up of the receiver from several sources of configuration. The configuration interface and the available keys are described fully in the ZED-F9P Interface description [2].

  • Page 12: Default Interface Settings

    Fully compatible with the I2C industry standard, available for communication with an external host CPU or u-blox cellular modules, operated in slave mode only. Default messages activated as in UART1. Input/output protocols available as in UART1. Maximum bit rate 400 kb/s.
  • Page 13 ZED-F9P only supports certain combinations of constellations and bands. For all constellations, both L1 and L2 bands must either be enabled or disabled. BeiDou B2 is the exception (can either have BeiDou B1+B2 or B1-only).
  • Page 14 It is possible to obtain the status of the antenna supervisor through the UBX-MON-RF message. Moreover, any changes in the status of the antenna supervisor are reported to the host interface in the form of notice messages. See the ZED-F9P Interface description [2] for antStatus and antPower field description.

  • Page 15: Rtk Configuration

    After describing the RTCM protocol and corresponding supported message types, this section describes how to configure the ZED-F9P high precision receiver as a base or rover receiver. This includes both the static base use case and the moving base use case.
  • Page 16 Table 7: ZED-F9P supported output RTCM version 3.3 messages 3.1.5.4 Rover operation In its default configuration, the ZED-F9P will attempt to provide the best positioning accuracy depending on the received correction data. It will enter RTK float mode as soon as it receives an input stream of RTCM correction messages.
  • Page 17 ZED-F9P - Integration manual The ZED-F9P should receive RTCM corrections matching its GNSS signal configuration to function optimally. The rover requires both base station observation (MSM4 or MSM7 messages) and position message (RTCM 1005 or RTCM 1006) in order to attempt ambiguity fixes. The rover will attempt to provide RTK fixed operation when sufficient number of ambiguities are available.
  • Page 18 C.2. 3.1.5.5 Stationary base operation The ZED-F9P high precision receiver default operation begins without producing any RTCM messages. RTCM observation messages will be streamed as soon as they are configured for output. However, any stationary reference position messages are output only when the base station position has been initialized and is operating in time mode.
  • Page 19 ZED-F9P - Integration manual Configuration item Description CFG-TMODE-MODE Receiver mode (disabled or survey-in or fixed) CFG-TMODE-POS_TYPE Determines whether the ARP position is given in ECEF or LAT/LON/HEIGHT CFG-TMODE-ECEF_X ECEF X coordinate of the ARP position CFG-TMODE-ECEF_Y ECEF Y coordinate of the ARP position...
  • Page 20 In the MB RTK mode, the base and rover receivers are referred to as MB base and MB rover respectively. This section describes how to configure the ZED-F9P high precision receiver in a moving base setup. 3.1.5.6.1 Base operation in MB RTK mode In addition to the rules described in RTCM output configuration section above, the following moving...
  • Page 21 ZED-F9P - Integration manual • The RTCM 3.3 stream must contain reference station message 4072.0 (position information) and MSM4 or MSM7 observation messages, otherwise the rover will be unable to operate in MB rover mode. • Message 4072.1 (timing information) is no longer necessary for moving base rover and as such it is no longer used by a moving base rover.

  • Page 22: Legacy Configuration Interface Compatibility

    See Legacy UBX-CFG message fields reference section in the ZED-F9P Interface description [2]. 3.1.7 Navigation configuration This section presents various configuration options related to the navigation engine. These options can be configured through various configuration groups, such as CFG-NAVSPG-*, CFG-ODO-*, and...
  • Page 23 SV. When a SV is lost after a successful 3D fix (min. four SVs available), the altitude is kept constant at the last known value. This is called a 2D fix. u-blox receivers do not calculate any navigation solution with less than three SVs. 3.1.7.3 Navigation output filters The result of a navigation solution is initially classified by the fix type (as detailed in the...
  • Page 24 ZED-F9P - Integration manual Where a fix has been achieved, a check is made to determine whether the fix should be classified as valid or not. A fix is only valid if it passes the navigation output filters as defined in CFG-NAVSPG- OUTFIL.
  • Page 25 ZED-F9P - Integration manual by environmental factors such as multi-path and improves position accuracy especially in stationary applications. By default, static hold mode is disabled. If the speed drops below the defined "Static Hold Threshold", the static hold mode will be activated.
  • Page 26 These frozen values will not be output in the NMEA messages NMEA-RMC and NMEA-VTG unless the NMEA protocol is explicitly configured to do so (see NMEA protocol configuration in the ZED-F9P Interface description [2]). UBX-18010802 - R08...

  • Page 27: Sbas

    Figure 8: Flowchart of the course over ground freezing 3.2 SBAS ZED-F9P high precision receiver is capable of receiving multiple SBAS signals concurrently, even from different SBAS systems (WAAS, EGNOS, MSAS, etc.). They can be tracked and used for navigation simultaneously, every SBAS satellite that broadcasts ephemeris or almanac information can be used for navigation, just like a normal GNSS satellite.

  • Page 28: Qzss Slas

    Europe, therefore it is recommended that the satellites from all but the EGNOS system should be disallowed using the PRN mask. Although u-blox receivers try to select the best available SBAS correction data, it is recommended to configure them to disallow using unwanted SBAS satellites.

  • Page 29: Features

    3.3.1 Features Multiple QZSS SLAS signals can be received simultaneously. When receiving QZSS SLAS correction data, the ZED-F9P high precision receiver will autonomously select the best QZSS satellite. The selection strategy is determined by the quality of the QZSS L1S signals, the receiver configuration (test mode allowed or not), and the location of the receiver with...

  • Page 30: Geofencing

    ZED-F9P - Integration manual 3.4 Geofencing 3.4.1 Introduction Figure 9: Geofence The geofencing feature allows for the configuration of up to four circular areas (geofences) on the Earth's surface. The receiver will then evaluate for each of these areas whether the current position lies within the area or not and signal the state via UBX messaging and PIO toggling.

  • Page 31: Using A Pio For Geofence State Output

    The CFG-GEOFENCE-PIN configuration item refers to a PIO and not a physical device pin. The PIO number must be set so that it is mapped to the assigned geofence state device pin. The ZED-F9P is assigned PIO3 that is assigned to module pin 19. 3.5 Logging 3.5.1 Introduction...

  • Page 32: Information About The Log

    ZED-F9P - Integration manual UBX-LOG-CREATE also allows the log to be specified as a circular log. If the log is circular, a set of older log entries will be deleted when it fills up, and the space freed up is used for new log entries.
  • Page 33 ZED-F9P - Integration manual The CFG-LOGFILTER-* configuration group has several values which can be used to select position fix entries for logging. If CFG-LOGFILTER-APPLY_ALL_FILTERS is false , then all position fixes will be logged (subject to a maximum rate of 1 Hz). Otherwise, a position is logged if any of the or if all of MIN_INTERVAL, TIME_THRS, SPEED_THRS or POSITION_THRS thresholds are exceeded.

  • Page 34: Retrieval

    ZED-F9P - Integration manual Figure 12: The states of the active logging subsystem 3.5.5 Retrieval UBX-LOG-RETRIEVE starts the process which allows the receiver to output log entries. UBX-LOG- INFO may be helpful to a host system in order to understand the current log status before retrieval is started.

  • Page 35: Communication Interfaces

    Also a command queue overflow would result in commands being lost. 3.6 Communication interfaces ZED-F9P provides UART1, SPI, I2C and USB interfaces for communication with a host CPU. The interfaces are configured via the configuration interface which is described in the ZED-F9P interface description [2].

  • Page 36: Uart Interfaces

    ZED-F9P - Integration manual Figure 14: ZED-F9P input isolation 3.6.1 UART interfaces ZED-F9P includes 2 UART ports. UART1 can be used as a host interface. It supports a configurable baud rate and protocol selection. UART2 is available as an optional stand-alone RTCM input interface. It cannot not be used as a host interface.

  • Page 37: I2C Interface

    3.6.2 I2C interface An I2C 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 I2C protocol and electrical interface are fully compatible with the fast-mode of the I2C industry standard.
  • Page 38 ZED-F9P - Integration manual Figure 15: I2C register layout 3.6.2.2 Read access types There are two I2C read transfer forms: • The "random access" form: includes a slave register address and allows any register to be read. • The "current address" form: omits the register address.
  • Page 39 ZED-F9P - Integration manual Figure 16: I2C random read access If the second form, "current address" is used, an address pointer in the receiver is used to determine which register to read. This address pointer will increment after each read unless it is already pointing at register 0xFF, the highest addressable register, in which case it remains unaltered.

  • Page 40: Spi Interface

    Figure 18: I2C write access 3.6.3 SPI interface The ZED-F9P high precision receiver has an SPI slave interface that can be selected by setting D_SEL = 0. The SPI slave interface is shared with UART1 and I2C port, the physical pins are same.

  • Page 41: Usb Interface

    The USB interface is compatible with a USB version 2.0 FS (full speed, 12 Mb/s) interface. The ZED-F9P receiver supports only self-powered mode operation in which the receiver is supplied from its own power supply. The V_USB pin is used to detect the availability of the USB port, i.e.

  • Page 42: Predefined Pios

    Table 23: D_SEL configuration 3.7.2 RESET_N The ZED-F9P provides the ability to reset the receiver. The RESET_N pin is an input-only pin with an internal pull-up resistor. Driving RESET_N low for at least 100 ms will trigger a cold start.

  • Page 43: Tx_Ready

    The TX_READY pin can be selected from all PIOs which are not in use (see UBX-MON-HW3 in the ZED-F9P 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. If PIO is invalid or already in use, only the configuration for the specific TX_READY pin is ignored, the rest of the port configuration is applied...

  • Page 44: Rtk_Stat Interface

    The CFG-GEOFENCE-PIN configuration item refers to a PIO and not a physical device pin. The PIO number must be set so that it is mapped to the assigned geofence state device pin. The ZED-F9P high precision receiver is assigned PIO3 that is assigned to module pin 19. 3.7.8 RTK_STAT interface The ZED-F9P provides an RTK_STAT pin that provides an indication of the RTK positioning status.

  • Page 45: Antenna Voltage Control - Ant_Off

    ZED-F9P - Integration manual Figure 21: ZED-F9P antenna supervisor The bias-t inductor must be chosen for multi-band operation; a value of 120 nH 5% is required for our recommended Murata part if the current is limited below its 110 mA rating. Antenna bias section for additional information.

  • Page 46: Antenna Short Detection - Ant_Short_N

    ZED-F9P - Integration manual $GNTXT,01,01,02,ANTSTATUS=OK*25 ANTSUPERV=AC indicates antenna control is activated 3.8.2 Antenna short detection - ANT_SHORT_N Enable antenna short detection setting configuration item CFG-HW- ANT_CFG_SHORTDET to true (1). Result: • UBX-MON-RF in u-center "Message View": Antenna status = OK. Antenna power status = ON •...

  • Page 47: Antenna Open Circuit Detection - Ant_Detect

    The u-blox MGA services provide a proprietary implementation of an A-GNSS protocol compatible with u-blox GNSS receivers. When a client device makes an MGA request, the service responds with the requested data using UBX protocol messages. These messages are ready for direct transmission to the receiver communication port without requiring any modification by the MGA...

  • Page 48: Authorization

    Obviously the value of this data will diminish as time passes, but in many cases it remains very useful and can significantly improve time to first fix. There are several ways in which a u-blox receiver can retain useful data while it is powered down, including: •...
  • Page 49 ZED-F9P - Integration manual works by collecting data such as ephemeris and almanac from the satellites through u-blox's "Global Reference Network" of receivers and providing this data to customers in a convenient form that can be forwarded directly to u-blox receivers. The AssistNow Online Service uses a simple, stateless, HTTP interface. Therefore, it works on all standard mobile communication networks that support internet access, including GPRS, UMTS and Wireless LAN.
  • Page 50 (trying to acquire new signals), it is possible that the internal buffers will overflow and some messages will be lost. In order to combat this, u-blox receivers support an optional flow control mechanism for assistance.
  • Page 51 For example, if the position is accurate to 100 km or better, the u-blox receiver will choose to go for a more optimistic startup strategy. This will result in quicker startup time. The receiver will decide which strategy to choose, depending on the "pacc"...

  • Page 52: Clocks And Time

    The receiver is dependent on a local oscillator for both the operation of its radio parts and also for timing within its signal processing. No matter what nominal frequency the local oscillator has, u-blox receivers subdivide the oscillator signal to provide a 1 kHz reference clock signal, which is used to drive many of the receiver's processes.

  • Page 53: Itow Timestamps

    Depending on the configuration of the receiver, such "invalid" times may well be output, but with flags indicating their state (e.g. the "valid" flags in UBX-NAV-PVT). u-blox receivers employ multiple GNSS system times and/or receiver local times (in order to support multiple GNSS systems concurrently), so users should not use UBX messages reporting GNSS system time or receiver local time.

  • Page 54: Time Validity

    ZED-F9P - Integration manual Time reference Message GLONASS time UBX-NAV-TIMEGLO Galileo time UBX-NAV-TIMEGAL UTC time UBX-NAV-TIMEUTC Table 26: GNSS times 3.10.5 Time validity Information about the validity of the time solution is given in the following form: • Time validity: Information about time validity is provided in the valid flags (e.g.

  • Page 55: Leap Seconds

    Leap second information can be polled from the u-blox receiver with the message UBX-NAV-TIMELS. 3.10.8 Real time clock u-blox receivers contain circuitry to support a real time clock, which (if correctly fitted and powered) keeps time while the receiver is otherwise powered off. When the receiver powers up, it attempts to use the real time clock to initialize receiver local time and in most cases this leads to appreciably faster first fixes.

  • Page 56: Timing Functionality

    3.11.1 Time pulse 3.11.1.1 Introduction u-blox receivers include a time pulse function providing clock pulses with configurable duration and frequency. The time pulse function can be configured using the CFG-TP-* configuration group. The UBX-TIM-TP message provides time information for the next pulse and the time source.
  • Page 57 ZED-F9P - Integration manual Figure 23: Time pulse 3.11.1.2 Recommendations • The time pulse can be aligned to a wide variety of GNSS times or to variants of UTC derived from them (see the chapter on time bases). However, it is strongly recommended that the...
  • Page 58 Although u-blox receivers can combine a variety of different GNSS times internally, the user must choose a single type of GNSS time and, separately, a single type of UTC for input (on EXTINTs) and output (via the time pulse) and the parameters reported in corresponding messages.
  • Page 59 ZED-F9P - Integration manual It is possible to define different signal behavior (i.e. output frequency and pulse length) depending on whether or not the receiver is locked to a reliable time source. Time pulse signal can be configured using the configuration group CFG-TP-*.

  • Page 60: Timemark

    ZED-F9P - Integration manual • CFG-TP-POL_TP1 = 1 • CFG-TP-PERIOD_LOCK_TP1 = 100 000 µs • CFG-TP-LEN_LOCK_TP1 = 100 000 µs The 1 Hz output is maintained whether or not the receiver is locked to GPS time. The alignment to TOW can only be maintained when GPS time is locked.

  • Page 61: Security

    Figure 26: Timemark 3.12 Security The security concept of ZED-F9P covers the air interface between the receiver and the GNSS satellites and the integrity of the receiver itself. There are functions to monitor/detect certain security threads and report it to the host system.

  • Page 62: Jamming/Interference Indicator

    ZED-F9P - Integration manual The spoofing detection feature monitors the GNSS signals for suspicious patterns indicating that the receiver is being spoofed. A flag in UBX-NAV-STATUS message (flags2 - spoofDetState ) alerts the user to potential spoofing. The spoofing detection feature monitors suspicious changes in the GNSS signal indicating external manipulation.

  • Page 63: Gnss Receiver Integrity

    3.12.3 GNSS receiver integrity 3.12.3.1 Secure boot The ZED-F9P boots only with firmware images that are signed by u-blox. This prevents the execution of non-genuine firmware images run on the receiver. 3.12.3.2 Secure firmware update The firmware image itself is encrypted and signed by u-blox. The ZED-F9P verifies the signature at each start.
  • Page 64 ZED-F9P - Integration manual The meaning of the content of each subframe depends on the sending GNSS and is described in the relevant Interface Control Documents (ICD). 3.13.1.2 GPS The data structure in the GPS L1C/A and L2C signals is dissimilar and thus the UBX-RXM-SFRBX message structure differs as well.
  • Page 65 ZED-F9P - Integration manual 3.13.1.3 GLONASS For GLONASS L1OF and L2OF signals, each reported subframe contains a string as described in the GLONASS ICD. This string comprises 85 data bits which are reported over three 32-bit words in the UBX-RXM-SFRBX message. Data bits 1 to 8 are always a hamming code, whilst bits 81 to 84 are a string number and bit 85 is the idle chip, which should always have a value of zero.
  • Page 66 ZED-F9P - Integration manual Figure 30: BeiDou subframe word Note that as the BeiDou data words only comprise 30 bits, the 2 most significant bits in each word reported by UBX-RXM-SFRBX are padding and should be ignored. 3.13.1.5 Galileo The Galileo E1 C/B and E5 bl/bQ signals both transmit the I/NAV message but in different configurations.
  • Page 67 ZED-F9P - Integration manual Figure 31: Galileo E1 C/B subframe words 3.13.1.5.2 Galileo E5 bI/bQ For Galileo E5 bI/bQ signals, each reported subframe contains a pair of I/NAV pages as described in the Galileo ICD. Galileo pages can either be "Nominal" or "Alert" pages. For Nominal pages the eight...
  • Page 68 ZED-F9P - Integration manual Figure 32: Galileo E5 bI/bQ subframe words Alert pages are reported in very similar manner, but the page type bits will have value 1 and the structure of the eight words will be slightly different (as indicated by the Galileo ICD).
  • Page 69 ZED-F9P - Integration manual Figure 33: SBAS subframe words 3.13.1.7 QZSS The structure of the data delivered by QZSS L1C/A signals is effectively identical to that for GPS (L1C/A). Similarly the structure of the data delivered by the QZSS L2C signal is effectively identical to GPS (L2C).

  • Page 70: Forcing A Receiver Reset

    GNSS bands. To report the spectrum information, enable the UBX-MON-SPAN message (see ZED-F9P Interface description [2]). The UBX-MON-SPAN message view visualizes the spectrum information in u- center.

  • Page 71: Design

    The pin assignment of the ZED-F9P module is shown in Figure 34. The defined configuration of the PIOs is listed in Table The ZED-F9P is an LGA package with the I/O on the outside edge and central ground pads. Figure 34: ZED-F9P pin assignment Pin No Name Description...
  • Page 72 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 (RTK fixed), Blinking (receiving and using RTCM corrections), 1...

  • Page 73: Power Supply

    The VCC pin is connected to 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 ZED-F9P Data sheet [1] for specification).

  • Page 74: Zed-F9P Power Supply

    4.2.3 ZED-F9P power supply The ZED-F9P high precision receiver 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.

  • Page 75: Antenna

    ZED-F9P - Integration manual Figure 36: Minimal ZED-F9P design For a minimal design with the ZED-F9P GNSS modules, the following functions and pins should be considered: • Connect the power supply to VCC and V_BCKP. • If hot or warm start operations are needed, connect a backup battery to V_BCKP.
  • Page 76 ZED-F9P - Integration manual Figure 37: u-blox low cost dual-band antenna internal structure A suitable ground plane is required for the antenna to achieve good performance. Location of the antenna is critical to reach the stated performance. Unsuitable locations could include, under vehicle dash, rear-view mirror location, etc.

  • Page 77: Antenna Bias

    5 to 20 mA to the system's power consumption budget. If customers do not want to make use of the antenna supervisor function the filtered VCC_RF supply voltage output can supply the antenna if the supply voltage of the ZED-F9P module matches the antenna working voltage (e.g. 3.0 V).
  • Page 78 ZED-F9P - Integration manual Figure 39: ZED-F9P reference design for antenna bias L1: MURATA LQW15A LQW15ANR12J00 0402 120N 5% 0.11A -55/+125C D1: TYCO, 0.25PF, PESD0402-140 -55/+125C C3: MURATA GRM033R61E104KE14 CER X5R 0201 100N 10% 25V R2: RES THICK FILM CHIP 1206 10R 5% 0.25W It is recommended to use active current limiting.

  • Page 79: Eos/Esd Precautions

    EOS/ESD/EMI handling and protection measures. 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]. 4.5.1 ESD protection measures GNSS receivers are sensitive to Electrostatic Discharge (ESD). Special precautions are required when handling.

  • Page 80: Eos Precautions

    Figure 43: Active antenna EOS protection 4.5.3 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 81: General Notes On Interference Issues

    ZED-F9P - Integration manual emits from unshielded I/O lines. Receiver performance may be degraded when this noise is coupled into the GNSS antenna. EMI protection measures are particularly useful when RF emitting devices are placed next to the GNSS receiver and/or to minimize the risk of EMI degradation due to self-jamming. An adequate layout with a robust grounding concept is essential in order to protect against EMI.

  • Page 82: Out-Of-Band Interference

    GNSS receiver input to block the remaining GSM transmitter energy. 4.7 Layout This section details layout and placement requirements of the ZED-F9P high precision receiver. 4.7.1 Placement GNSS signals at the surface of the Earth are below the thermal noise floor. A very important factor in achieving maximum GNSS performance is the placement of the receiver on the PCB.
  • Page 83 (e.g. soldering etc.) of the customer. Refer to the ZED-F9P Data sheet [1] for the mechanical dimensions. 4.7.2.1 Footprint Figure 44: ZED-F9P suggested footprint (i.e. copper mask)

  • Page 84: Layout Guidance

    ZED-F9P - Integration manual 4.7.2.2 Paste mask Figure 45: ZED-F9P suggested paste mask 4.7.3 Layout guidance The presented layout guidance reduces the risk of performance issues at design level. 4.7.3.1 RF In trace The RF in trace has to work in the combined GNSS L1 + L2 signal band.
  • Page 85 4.7.3.2 Vias for the ground pads The 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.

  • Page 86: Design Guidance

    • If USB is used, is there a 1 uF capacitor right near the V_USB pin? This is just for the V_USB pin. • Is there a 1 uF cap right next to the module VCC pin? • Compare the peak current consumption of the ZED-F9P GNSS module with the specification of your power supply.

  • Page 87: Antenna/Rf Input

    ZED-F9P - Integration manual When an RF input connector is employed this can provide a conduction path for harmful or destructive electrical signals. If this is a likely factor the RF input should be protected accordingly. Additional points on the RF input •...

  • Page 88: Ground Pads

    Ensure the ground pads of the module are connected to ground. 4.8.6 Schematic design For a minimal design with the ZED-F9P GNSS modules, consider the following functions and pins: • Connect the power supply to VCC and V_BCKP. • V_USB: If USB is used it is recommended V_USB is to be powered as per USB self-powered mode specification.

  • Page 89: Product Handling

    ZED-F9P - Integration manual 5 Product handling 5.1 ESD handling precautions ZED-F9P contains highly 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! •...
  • Page 90 ZED-F9P - Integration manual As a reference, see the “IPC-7530 Guidelines for temperature profiling for mass soldering (reflow and wave) processes”, published in 2001. Preheat phase During the initial heating of component leads and balls, residual humidity will be dried out. Note that this preheat phase will not replace prior baking procedures.
  • Page 91 ZED-F9P - Integration manual Modules must not be soldered with a damp heat process. Optical inspection After soldering the module, consider an optical inspection step. Cleaning No cleaning with water, solvent, ultrasonic cleaner should be carried out: • Cleaning with water will lead to capillary effects where water is absorbed in the gap between the baseboard and the module.

  • Page 92: Tapes

    EMI covers is done at the customer’s own risk. The numerous ground pins should be sufficient to provide optimum immunity to interferences and noise. u-blox makes no warranty for damages to the module caused by soldering metal cables or any other forms of metal strips directly onto the EMI covers.

  • Page 93: 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. See the u-blox Package Information Guide [3].

  • Page 94: Appendix

    ZED-F9P - Integration manual Appendix A Glossary Abbreviation Definition ANSI American National Standards Institute Antenna Reference Point BeiDou Chinese navigation satellite system Battery-backed RAM CDMA Code Division Multiple Access Electromagnetic Compatibility Electromagnetic Interference Electrical Overstress Electrostatic Protective Area Electrostatic Discharge Galileo European navigation satellite system...
  • Page 95 ZED-F9P - Integration manual needs to do the transformation for use in a mapping application if it does not use the same reference frame. An offset can occur if this is not done. The ITRF reference frame years are listed below: • ITRF94 •...

  • Page 96: C Rtk Configuration Procedures With U-Center

    C.1 Base configuration with u-center This section describes setting a static base configuration in the u-center "Messages View" window. Start u-center and connect to the ZED-F9P device. Under the UBX-CFG message tree, three configuration messages are listed: • CFG-VALDEL: Allows configuration deletion •...
  • Page 97 ZED-F9P - Integration manual You can edit or read key values from the receiver after selecting items in the "Configuration changes to send" list. See Figure 53 below. Figure 53: u-center UBX-CFG-VALSET message view Use the following procedure to configure the module for base station operation: Setting the required RTCM message output can be done in one session.
  • Page 98 ZED-F9P - Integration manual Figure 54: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-MSGOUT-* configuration group for enabling the output of the required RTCM messages The configuration illustration shows the use of RTCM MSM7 messages. MSM4 messages are equally applicable as recommended in the receiver configuration section.
  • Page 99 ZED-F9P - Integration manual Figure 55: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-TMODE-* configuration group required for performing a survey-in When using the survey-in mode, you must select reasonable settings based on the environment and achievable accuracy in the base location. A figure of 50000 (0.1 mm x 50000 = 5 m) for estimated accuracy and survey-in time of 60 seconds is a sensible starting point.

  • Page 100: Rover Configuration With U-Center

    ZED-F9P - Integration manual Figure 56: Base station: u-center data view in TIME mode C.2 Rover configuration with u-center This overview will help when setting up a rover when using u-center. In this procedure, the UART1 is set with an appropriate baud rate for communicating with a host.
  • Page 101 ZED-F9P - Integration manual Select the added Key. It will now give the option of setting or reading the current value. See Figure Figure 58: Example u-center UBX-CFG-VALSET message view when selecting a configuration item Next add the value, for example, 230400, into the Value window that appears below the list.
  • Page 102 ZED-F9P - Integration manual Then set the configuration by clicking the Send button at the bottom of the message tree view. Remember to set the u-center baud rate to match the value set in the receiver. Figure 59: Rover: u-center UBX-CFG-VALSET message view for setting the CFG-UART1-BAUDRATE configuration item that controls the baudrate of UART1 Next, some UBX example messages are configured to enable viewing the rover status.
  • Page 103 ZED-F9P - Integration manual Click Send. See Figure Figure 60: Rover: u-center UBX-CFG-VALSET message view for setting the CFG-MSGOUT-* configuration items for enabling the output of some recommended UBX messages To ensure all the required RTCM messages, including most importantly RTCM 1005 or 4072.0, are being received regularly, examine the UBX-RXM-RTCM output in u-center.

  • Page 104: D Stacked Patch Antenna

    ZED-F9P - Integration manual Figure 61: Rover: u-center UBX-RXM-RTCM view Once the rover has started to receive valid RTCM messages, it will transition through 3D Fix to 3D/ DGNSS to Float, and, ultimately, into Fixed mode. This will occur when it is receiving all required RTCM messages, including RTCM 1005 or 4072.0, under sufficient signal conditions.
  • Page 105 ZED-F9P - Integration manual Figure 63: Stacked patch antenna The absolute antenna position for a survey-grade antenna is normally given as the antenna reference point (ARP), usually specified at a mechanical mounting point. The antenna nominal phase center is given by a phase center combination of the L1 and L2 patches. Survey-grade antenna makers provide offset data for phase variation with respect to the ARP.
  • Page 106 L1 + L2 antenna is shown below. Figure 65: Low-cost L1/L2 antenna band characteristics The u-blox low-cost antenna design is shown below, followed by some examples of antennas from other manufacturers which can be used with ZED-F9P.
  • Page 107 ZED-F9P - Integration manual Figure 66: u-blox low-cost L1/L2 RTK antenna There are antenna types that can be used without a substantial ground plane, such as a helical antenna type. This is a useful solution where space is limited, for example, for drone or small form factor applications.

  • Page 108: Related Documents

    ZED-F9P Interface description, doc. no. UBX-18010854 u-blox Package Information Guide, doc. no. UBX-14001652 ZED-F9P Moving Base application note, doc. no. UBX-19009093 For regular updates to u-blox documentation and to receive product change notifications please register on our homepage (http://www.u-blox.com). UBX-18010802 - R08...

  • Page 109: Revision History

    Tape feed and dimension pictures updated. PCN UBX-19057484 added and module type number updated. 25-Feb-2020 jhak Updated minimum and maximum gains in Antenna specifications table. 02-Jun-2020 dama HPG 1.13 update. ZED-F9P-02B-00 update. UBX-18010802 - R08 Revision history Page 109 of 110   Early production information...
  • Page 110 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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