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u-blox ZED-F9P Integration Manual

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 specifications of
ZED-F9P, a multi-band GNSS module offering centimeter level
accuracy with integrated RTK.
www.u-blox.com
UBX-18010802 - R02

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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 - R02...
  • Page 2 This document may be revised by u-blox at any time. For most recent documents, please visit www.u blox.com.

  • Page 3: Table Of Contents

    1.1 Real Time Kinematic..........................7 1.1.1 RTK modes of operation.......................7 1.2 Typical ZED-F9P application setups....................8 1.2.1 ZED-F9P in a drone application....................8 1.2.2 ZED-F9P in a robotic mower application.................. 9 2 Integration manual structure..................10 3 Getting started........................11 3.1 RTCM corrections..........................12 3.2 List of supported RTCM input messages..................13...
  • Page 4 ZED-F9P - Integration Manual 4.6.3 AssistNow Online sequence...................... 40 4.6.4 Flow control...........................41 4.6.5 Authorization..........................41 4.6.6 Service parameters........................41 4.6.7 Multiple servers..........................43 4.7 Broadcast navigation data......................... 43 4.7.1 Parsing navigation data subframes..................43 4.7.2 GPS..............................44 4.7.3 GLONASS............................45 4.7.4 BeiDou.............................46 4.7.5 Galileo............................. 46 4.7.6 QZSS...............................48...
  • Page 5 5 Hardware description......................69 5.1 Block diagram............................69 5.2 Connecting power..........................69 5.2.1 VCC: Main supply voltage......................69 5.2.2 V_BCKP: Backup supply voltage....................70 5.2.3 ZED-F9P Power supply....................... 70 5.3 Interfaces..............................71 5.3.1 UART interfaces...........................72 5.3.2 SPI interface..........................73 5.3.3 D_SEL interface..........................73 5.3.4 RESET_N interface........................73 5.3.5 SAFEBOOT_N interface......................73...
  • Page 6 ZED-F9P - Integration Manual 8.9.1 General considerations......................100 8.9.2 Back up battery..........................100 8.9.3 Antenna/ RF input........................101 8.9.4 ZED-F9P ground pads......................101 8.9.5 Schematic design-in......................... 101 8.9.6 Pin assignment.......................... 101 8.9.7 Layout design-in checklist.......................103 9 Product handling.......................104 9.1 Soldering...............................104 9.2 Tapes..............................106 9.3 Reels..............................108 9.4 Moisture Sensitivity Levels......................108...

  • Page 7: Overview

    1.1.1 RTK modes of operation The ZED-F9P supports two modes of operation: 1. ZED-F9P operating as a base: It provides RTCM corrections to a ZED-F9P rover, or to a network of ZED-F9P rovers. 2. ZED-F9P operating as a rover: receiving RTCM corrections from a ZED-F9P operating as a base.

  • Page 8: Typical Zed-F9P Application Setups

    Two application examples have been illustrated as typical system implementations. Both are representative of a simple "short baseline" set-up in which the Base and Rover receivers are within a few hundred meters of each other. Here the ZED-F9P is used as a base station providing corrections to a mobile rover receiver.

  • Page 9: Zed-F9P In A Robotic Mower Application

    ZED-F9P - Integration Manual 1.2.2 ZED-F9P in a robotic mower application Figure 3: ZED-F9P base and rover in a short baseline robotic mower application UBX-18010802 - R02 1 Overview Page 9 of 114   Advance Information...

  • Page 10: Integration Manual Structure

    ZED-F9P - Integration Manual 2 Integration manual structure This document provides a wealth of information to enable a successful ZED-F9P module implementation. The manual is structured into three main parts covering system, software and hardware aspects. The first section, "Getting started" outlines the basics of enabling RTK operation with the ZED- F9P.

  • Page 11: Getting Started

    WIFI, Bluetooth, proprietary radio, ISM etc. The user only needs to ensure the RTCM messages arrive at the I/O port selected on the ZED-F9P. This link will be bi-directional for a VRS services as the rover has to provide its position usually every 30 seconds at least.

  • Page 12: Rtcm Corrections

    The ZED-F9P high precision receiver must receive RTCM corrections for all GNSS constellations that it receives in order to function as an RTK rover. The ZED-F9P high precision receiver needs to output RTCM corrections if being used as an RTK base. The correct RTCM messages must also be selected for the GNSS constellations and signals being received.

  • Page 13: List Of Supported Rtcm Input Messages

    You can download the standard from the RTCM website here. To modify the RTCM input/output settings, see the Configuration section in the u-blox ZED-F9P Interface Description [2]. See the RTCM ITRF Geodetic models section in the Appendix for more information. Users should be aware of the datum provided by the RTCM correction source.

  • Page 14: List Of Supported Rtcm Output Messages

    "Receiver and Antenna Description" message (type 1033) otherwise the GLONASS ambiguities can only be estimated as float, even in RTK fixed mode. If using a ZED-F9P as a base, "GLONASS code-phase biases" message (type 1230) must be enabled to be output. For a ZED-...

  • Page 15: Configuration Of The Base And Rover For Rtk Operation

    F9P base or rover. Typically a u-center NTRIP client connects over the internet to a NTRIP service provider. The u-center NTRIP client then provides the RTCM 3x corrections to a ZED-F9P rover connected to the local u-center application. VRS is also supported by the u-center NTRIP client.

  • Page 16: Required Configuration Of The Base And Rover

    ZED-F9P - Integration Manual 3.5.1.3 Survey-in Survey-in is the procedure that is carried out prior to using Time Mode. It determines a stationary receiver's position by building a weighted mean of all valid 3D position solutions. Two requirements for stopping the procedure must be specified: •...

  • Page 17: Communication Interface Configuration

    This includes parameters for the data framing, transfer rate and protocols used. A subset of the relevant configuration items is seen below for the UART1 only. For all available configuration items, see ZED-F9P Interface Description [2]. Configuration item...

  • Page 18: Base Station: Rtcm Output Configuration

    3.5.7 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 19 ZED-F9P - Integration Manual Configuration item Description CFG-TMODE-SVIN_ACC_LIMIT Survey-in position accuracy limit Table 6: Configuration items used for setting a base station into survey-in Both requirements (duration time and accuracy limit) must be met before the base station completes the survey-in process. Once this is done then it will begin to output the base position message RTCM 1005.

  • Page 20: Base Station: Configuration Procedure In U-Center Overview

    ZED-F9P - Integration Manual When the receiver is in base station mode, some coarse error check is performed on the entered, or surveyed-in, fixed position. If the results of this check indicates that the fixed position may be incorrect, then a UBX-INF-WARNING message with the text: "Base station position seems incorrect"...
  • Page 21 ZED-F9P - Integration Manual Figure 6: u-center UBX-CFG-VALSET message view Figure 7: Example u-center UBX-CFG-VALSET message view when selecting a configuration item UBX-18010802 - R02 3 Getting started Page 21 of 114   Advance Information...
  • Page 22 ZED-F9P - Integration Manual Figure 8: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-UART1-BAUDRATE configuration item that controls the baudrate of UART1 MSM4 messages are done in the same way as the MSM7 RTCM messages, which are shown in the example.
  • Page 23 ZED-F9P - Integration Manual UBX-NAV-SOL is shown below, however it is not supported with HPG 1.00 firmware. Figure 10: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-MSGOUT-* configuration group for enabling the output of some recommended UBX messages Figure 11: Base station: u-center UBX-CFG-VALSET message view for setting the CFG-TMODE-* configuration group...

  • Page 24: Rover: Configuration Procedure In U-Center Overview

    ZED-F9P - Integration Manual Figure 12: Base station: u-center packet console RTCM view If MSM4 RTCM messages are used the output will be similar. Figure 13: Base station: u-center data view in TIME mode 3.5.9 Rover: Configuration procedure in u-center overview To configure the module for rover operation use the following procedure: •...
  • Page 25 ZED-F9P - Integration Manual • Ensure all the required RTCM messages, most importantly RTCM 1005, are being received regularly by viewing the messages in the UBX-RXM-RTCM view in u-center. See Figure 18 • Once the rover has started to receive valid RTCM messages, it will transition from 3D Fix to 3D/DGNSS to Float and to Fixed mode.
  • Page 26 ZED-F9P - Integration Manual Figure 15: Example u-center UBX-CFG-VALSET message view when selecting a configuration item Figure 16: Rover: u-center UBX-CFG-VALSET message view for setting the CFG-UART1-BAUDRATE configuration item that controls the baudrate of UART1 UBX-NAV-SOL is shown below, however it is not supported with HPG 1.00 firmware.
  • Page 27 ZED-F9P - Integration Manual Figure 17: Rover: u-center UBX-CFG-VALSET message view for setting the CFG-MSGOUT-* configuration items for enabling the output of some recommended UBX messages Figure 18: Rover: u-center UBX-RXM-RTCM view UBX-18010802 - R02 3 Getting started Page 27 of 114  ...

  • Page 28: Rtk Rover Mode Output In Messages

    • QZSS L1C/A L2C BDS B2I is also supported but not enabled in the default GNSS configuration. The configuration settings can be modified using UBX protocol configuration messages. For more information, see the ZED-F9P Interface Description [2]. UBX-18010802 - R02 3 Getting started Page 28 of 114  ...

  • Page 29: Default Messages

    RTCM message and message rate configuration otherwise the MSM multiple message bit might not be set properly. 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 30: Receiver Description

    This section describes in additional detail core features of the receiver firmware. 4.1 Receiver configuration u-blox positioning receivers are fully configurable with UBX protocol messages. The configuration used by the receiver during normal operation is called the "current configuration". The current configuration can be changed during normal operation by sending UBX configuration messages over any I/O port.

  • Page 31: Gnss Signal Configuration

    ZED-F9P - Integration Manual If the rate of this message is set to one (1), it will be output for every navigation epoch. If the rate is set to two (2), it will be output every other navigation epoch. The rates of the output messages are individually configurable per communication interface.

  • Page 32: Antenna Supervisor Configuration

    Table 9: Example of possible values of configuration items for the GPS constellation On ZED-F9P receivers only some combinations of signals are supported. For all systems, both L1 and L2 signals need to be either enabled or disabled, with the exception of the BeiDou B2 signal, which may be disabled individually.

  • Page 33: Legacy Configuration Interface Compatibility

    ZED-F9P Interface Description [2]. 4.5 Serial Communication Ports Description u-blox receivers come with a highly flexible communication interface. It supports the NMEA and the proprietary UBX protocols, and is truly multi-port and multi-protocol capable. Each protocol (UBX, NMEA) can be assigned to several ports at the same time (multi-port capability) with individual settings (e.g.

  • Page 34: Extended Tx Timeout

    ZED-F9P - Integration Manual The threshold should not be set above 2 kB, as the internal message buffer limit can be reached before this, resulting in the TX-ready pin never being set as messages are discarded before the threshold is reached. 4.5.2 Extended TX timeout...

  • Page 35: Ddc Port

    Unlike all other interfaces, the DDC is not able to communicate in full-duplex mode, i.e. TX and RX are mutually exclusive. u-blox receivers act as a slave in the communication setup, therefore they cannot initiate data transfers on their own. The host, which is always master, provides the data clock (SCL), and the clock frequency is therefore not configurable on the slave.
  • Page 36 ZED-F9P - Integration Manual Figure 21: DDC Register Layout 4.5.5.1.1 Read Access Forms There are two forms of DDC read transfer. The "random access" form includes a slave register address and thus allows any register to be read. The second "current address" form omits the register address.
  • Page 37 ZED-F9P - Integration Manual Figure 22: DDC Random Read Access The format of the current address read request is : Figure 23: DDC Current Address Read Access 4.5.5.2 Write Access The receiver does not provide any write access except for writing UBX and NMEA messages to the receiver, such as configuration or aiding data.

  • Page 38: Spi Port

    ZED-F9P - Integration Manual Figure 24: DDC Write Access 4.5.6 SPI Port A Serial Peripheral Interface (SPI) bus is available with selected receivers. See our on line product descriptions for availability. SPI is a four-wire synchronous communication interface. In contrast to UART, the master provides the clock signal, which therefore doesn't need to be specified for the slave in advance.

  • Page 39: Multiple Gnss Assistance (Mga)

    Internet. Data supplied by the AssistNow Online Service can be directly uploaded to a u-blox receiver in order to substantially reduce Time To First Fix (TTFF), even under poor signal conditions. The system works by collecting data such as ephemeris and almanac from the satellites through u-blox' Global Reference Network of receivers and providing this data to customers in a convenient form that can be forwarded on directly to u-blox receivers.

  • Page 40: Host Software

    • Enable and use flow control to prevent loss of data due to buffer overflow in the receiver. u-blox provides the source code for an example library, called libMGA, that provides all of the functionality we expect in most host software.

  • Page 41: Flow Control

    4.6.5 Authorization The AssistNow Online Service is only available for use by u-blox customers. In order to use the services, customers will need to obtain an authorization token from u-blox. This token must be supplied as a parameter whenever a request is made to either service.
  • Page 42 For example, if the position is accurate to 100km 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 43: Multiple Servers

    In order to protect customers against the impact of such outages, u-blox will run at least two instances of the AssistNow Online Service on independent machines. Customers will have a free choice of requesting assistance data from any of these servers, as all will provide the same information.

  • Page 44: Gps

    ZED-F9P - Integration Manual Where the parity checking algorithm requires data to be inverted before it is decoded (e.g. GPS L1C/A), the receiver carries this out before the message output. Therefore, users can process data directly and do not need to worry about repeating any parity processing.

  • Page 45: Glonass

    ZED-F9P - Integration Manual Figure 28: GPS L2C subframe words 4.7.3 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.

  • Page 46: Beidou

    ZED-F9P - Integration Manual Figure 29: Glonass subframe words In some circumstances, (especially on startup) the receiver may be able to decode data from a GLONASS SV before it can identify the SV. When this occurs UBX-RXM-SFRBX messages will be issued with an svId of 255 to indicate "unknown".
  • Page 47 ZED-F9P - Integration Manual 4.7.5.1 Galileo E1 C/B For Galileo E1 C/B 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 words are...

  • Page 48: Qzss

    ZED-F9P - Integration Manual 4.7.5.2 Galileo E5 b1/bQ For Galileo E5 b1/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 49: Summary

    1 kHz clock tick takes in the time-base of the relevant GNSS system. In previous generations of u-blox receivers this was always the GPS time-base, but for this generation it could be GPS, GLONASS, Galileo, or BeiDou.

  • Page 50: 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 rely on UBX messages that report GNSS system time or receiver local time being supported in future.

  • Page 51: Gnss Times

    ZED-F9P - Integration Manual 4.8.4 GNSS times Each GNSS has its own time reference for which detailed and reliable information is provided in the messages listed in the table below. Time Reference Message GPS Time UBX-NAV-TIMEGPS BeiDou Time UBX-NAV-TIMEBDS GLONASS Time UBX-NAV-TIMEGLO...

  • Page 52: Leap Seconds

    Protocol Version 18 and above. 4.8.8 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 53: Navigation Configuration Settings Description

    (the first ambiguous date will be in 2124). Therefore, u-blox 9 receivers using Protocol Version 24 and above regard the date information transmitted by GLONASS, BeiDou and Galileo to be unambiguous and, where necessary, use this to resolve any ambiguity in the GPS date.

  • Page 54: Navigation Input Filters

    (e.g. 2D, 3D, dead reckoning). The ZED-F9P firmware does not support the dead reckoning position fix type. Where a fix has been achieved, a check is made to determine whether the fix should be classified as valid or not.

  • Page 55: Static Hold

    ZED-F9P - Integration Manual Important: Users are recommended to check the gnssFixOK flag in the UBX-NAV-PVT or the NMEA valid flag. Fixes not marked valid should not normally be used. UBX-NAV-STATUS message also reports whether a fix is valid in the gpsFixOK flag. These messages have only been retained for backwards compatibility and users are recommended to use the UBX-NAV-PVT message in preference.
  • Page 56 ZED-F9P - Integration Manual The CFG-MOT-GNSSDIST_THRS, configuration item additionally allows for configuration of distance threshold. If the estimated position is farther away from the static hold position than this threshold, static mode will be quit.The CFG-MOT-GNSSSPEED_THRS configuration item allows you to set a speed that the static hold will release.

  • Page 57: Freezing The Course Over Ground

    ZED-F9P - Integration Manual Figure 34: Flowchart of the static hold mode 4.9.5 Freezing the course over ground If the low-speed course over ground filter is deactivated or inactive (see section Low-speed Course over Ground Filter), the receiver derives the course over ground from the GNSS velocity information.

  • Page 58: Degraded Navigation

    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 u-blox receivers do not calculate any navigation solution with less than three SVs. 4.10 Time pulse...

  • Page 59: Recommendations

    ZED-F9P - Integration Manual Figure 36: Timepulse 4.10.2 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 60: Gnss Time Bases

    Time Pulse can be expected. 4.10.4 Time pulse configuration u-blox ZED-F9P receivers provide a time pulse (TP) signal with a configurable pulse period, pulse length and polarity (rising or falling edge). UBX-18010802 - R02...

  • Page 61: Configuring Time Pulse With Cfg-Tp

    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 signals can be configured using the configuration group CFG-TP-*.

  • Page 62: Forcing A Receiver Reset

    ZED-F9P - Integration Manual • CFG-TP-LEN_TP1 = 100 000 µs • CFG-TP-TIMEGRID_TP1 = 1 (GPS) • CFG-TP-PULSE_LENGTH_DEF = 0 (Period) • CFG-TP-ALIGN_TO_TOW_TP1 = 1 • CFG-TP-USE_LOCKED_TP1 = 1 • 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.

  • Page 63: Geofencing

    ZED-F9P - Integration Manual The Reset Type can also be specified. This is not related to GNSS, but to the way the software restarts the system. • Hardware Reset uses the on-chip watchdog, in order to electrically reset the chip. This is an immediate, asynchronous reset.

  • Page 64: Using A Pio For Geofence State Output

    ZED-F9P - Integration Manual The position solution uncertainty (standard deviation) is multiplied with the configured confidence sigma level number and taken into account when evaluating the geofence state (red circle in figure below). Figure 40: Geofence states The combined state for all geofences is evaluated as the combination (logical OR) of all geofences: •...

  • Page 65: Jamming/Interference Monitor (Itfm)

    ZED-F9P - Integration Manual application. It is necessary to run the receiver in an unjammed environment to determine an appropriate value for the unjammed case. If the value rises significantly above this threshold, this indicates that a continuous wave jammer is present.

  • Page 66: Configuring The Fixed Seed And Register Messages

    ZED-F9P - Integration Manual The feature works by the receiver calculating a numerical signature for the configured messages. The system receiving the message can verify the signature based on the message content and the configured value, termed "seed". Two new messages are provided for configuring the seed used for the signing: UBX-CFG-FIXSEED and UBX-CFG-DYNSEED.

  • Page 67: Spoofing Detection

    ZED-F9P - Integration Manual Figure 41: SHA256 hash The result is a 256 bit (32 bytes) hash which needs to be verified with the content (field hash) of the corresponding UBX-SEC-SIGN message. 4.15 Spoofing detection 4.15.1 Introduction Spoofing is the process whereby someone tries to forge a GNSS signal with the intention of fooling the receiver into calculating a different user position than the true one.
  • Page 68 ZED-F9P - Integration Manual Figure 42: Timemark UBX-18010802 - R02 4 Receiver description Page 68 of 114   Advance Information...

  • Page 69: 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 70: V_Bckp: Backup Supply Voltage

    For example a LDO with a current limiter of 500 mA. The ZED-F9P will require a minimum of 300 mA with no voltage drop during normal powered operation.

  • Page 71: Interfaces

    Figure 44: ZED-F9P power supply 5.3 Interfaces A number of interfaces are available in the ZED-F9P high precision receiver (UART, DDC or SPI), but not all are supported by the default firmware for data communication. See the ZED-F9P Interface Description [2] for a description of the interface protocols supported.

  • Page 72: Uart Interfaces

    Figure 47: ZED-F9P I/O level translation 5.3.1 UART interfaces UART1 The ZED-F9P high precision receiver uses a UART interface, which can be used for communication with a host. It supports configurable baud rates. UART2 UART2 is intended to convey correction messages to the module and will only accept RTCM and NMEA protocols and should not be used as a primary host connection.

  • Page 73: Spi Interface

    NMEA messages. 5.3.2 SPI interface The ZED-F9P high precision receiver has a SPI slave interface that can be selected by setting D_SEL = 0. The SPI slave interface is shared with UART1. The SPI pins available are: SPI_MISO (TXD), SPI_MOSI (RXD), SPI_CS_N, SPI_CLK.
  • Page 74 This should be avoided by disabling the LDO (U1) using the enable signal (EN) supplied by the ZED-F9P VCC LDO. Depending on the characteristics of the LDO (U1) it is recommended to add a pull-down resistor (R11) at its output to ensure VDD_USB is not floating if the LDO (U1) is disabled or the USB cable is not connected i.e.

  • Page 75: Display Data Channel (Ddc)

    5.3.9 Display Data Channel (DDC) An I C compliant DDC 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 DDC protocol and electrical interface are fully compatible with Fast-Mode of the I C industry standard.
  • Page 76 ZED-F9P - Integration Manual Figure 51: ZED-F9P Antenna Supervisor The bias-t inductor must be chosen for multi-band operation: a value of 120 nH 5% is recommended L1: MURATA LQW15A 0402 120N 5% 0.11A -55/+125C C2: MURATA GRM033R71C103KE14 CER X7R 0402 10N 10% 16V ESD protection diode on RF trace TYCO, 0.25PF, PESD0402-140 -55/+125C...
  • Page 77 ZED-F9P - Integration Manual Result: • MON-RF in u-center: Antenna status = OK. Antenna power status = ON • ANT_OFF = active high to disable an external antenna therefore the pin is low to enable an external antenna. • ANT_SHORT_N = active low to detect a short therefore the pin is high (pio pull up enabled to be...

  • Page 78: Extint

    ZED-F9P - Integration Manual CFG-HW-ANT_CFG_OPENDET = 1 Result.. • MON-RF in u-center: Antenna status = OK. Antenna power status = ON • ANT_OFF = active high therefore pio is low to enable external antenna • ANT_SHORT_N = active low therefore pio is high (pio pull up enabled to be pulled low if shorted) •...

  • Page 79: Eos/Esd 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]. 6.1 ESD handling precautions Attention :ZED-F9P high precision receivers contain highly sensitive electronic circuitry and are Electrostatic Sensitive Devices (ESD).

  • Page 80: Eos Precautions

    Figure 53: Active antenna EOS protection 6.4 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 81: Electromagnetic Interference On I/O Lines

    ZED-F9P - Integration Manual 7 Electromagnetic interference on I/O lines Any I/O signal line with a length greater than approximately 3 mm can act as an antenna and may pick up arbitrary RF signals transferring them as noise into the GNSS receiver. This specifically applies to unshielded lines, in which the corresponding GND layer is remote or missing entirely, and lines close to the edges of the printed circuit board.

  • Page 82: In-Band Interference Mitigation

    ZED-F9P - Integration Manual observed. Further, non-linear effects like gain compression, NF degradation (desensitization) and intermodulation must be analyzed. Pulsed interference with a low duty cycle like e.g. GSM may be destructive due to the high peak power levels. 7.2 In-band interference mitigation With in-band interference, the signal frequency is very close to the GNSS frequency.

  • Page 83: Design

    8 Design This section details the required information to carry out a schematic and PCB design. 8.1 Pin assignment The pin assignment of the ZED-F9P module is shown in Figure 54. The defined configuration of the PIOs is listed in...
  • Page 84 ZED-F9P - Integration Manual Pin No Name Description Reserved Reserved 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 85: Rf Front-End Circuit Options

    RF components should not be attempted without explicit assistance of an antenna manufacturer who has experience in achieving the required group delay variation and bandwidth performance for RTK. u-blox does not have a reference design or recommended components list to achieve this.

  • Page 86: Antenna

    ZED-F9P - Integration Manual 8.3 Antenna u-blox highlights that the use of an active antenna is a pre-requisite for using the ZED-F9P. If an active antenna needs to be implemented in an application case, it is recommended that an OEM active antenna module is used that meets our specification. To implement the required RF circuitry and source the required components to meet group delay specification is not a simple process compared to previous L1 only implementation.

  • Page 87: Stacked Patch Antenna

    ZED-F9P - Integration Manual 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. 8.4 Stacked patch antenna The typical L1 + L2 antenna will be a stacked patch antenna design. There will be a discrete L1 patch on top of a L2 patch.
  • Page 88 ZED-F9P - Integration Manual The absolute best performance will be obtained with the antenna in the center of the roof and not tilted at any large angle. However the placement of automotive antenna in a mass production vehicle will probably be compromised.
  • Page 89 ZED-F9P - Integration Manual Figure 59: u-blox low cost L1/L2 RTK antenna Figure 60: Taoglas active L1/L2 antenna Figure 61: Tallysman active L1/L2 antenna UBX-18010802 - R02 8 Design Page 89 of 114   Advance Information...
  • Page 90 ZED-F9P - Integration Manual Figure 62: Harada active L1/L2 antenna Figure 63: Antcom active L1/L2 antenna There are antenna that can be used that do not require a ground plane such as helical antenna. This is ideal for drone applications or small form factor applications.

  • Page 91: Zed-F9P Minimal Design

    Figure 64: Harxon helix active L1/L2 antenna 8.5 ZED-F9P minimal design The minimal electrical circuit for ZED-F9P operation using the UART1 interface is shown below Figure 65: Minimal ZED-F9P design The LGA center ground pads under the module must be soldered and connected to ground.

  • Page 92: Zed-F9P Antenna Bias

    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 Ω current limiting resistor is required to prevent against short circuits destroying the BIAS-T inductor.

  • Page 93: Layout

    C3: MURATA GRM155R61A104KA01 CER X5R 0402 100N 10% 10V 8.7 Layout This section details layout and placement requirements of the ZED-F9P high precision receiver. 8.7.1 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 94: Package Footprint, Copper And Solder Mask

    8.7.2 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 95 ZED-F9P - Integration Manual Figure 69: ZED-F9P LGA mechanical dimensions UBX-18010802 - R02 8 Design Page 95 of 114   Advance Information...
  • Page 96 ZED-F9P - Integration Manual Figure 70: ZED-F9P LGA Solder mask dimensions UBX-18010802 - R02 8 Design Page 96 of 114   Advance Information...

  • Page 97: Layout Guidance

    ZED-F9P - Integration Manual Figure 71: ZED-F9P LGA Paste mask dimensions 8.8 Layout guidance Presented layout guidance reduces the risk of performance issues at design level with the ZED-F9P high precision receiver. 8.8.1 RF In trace The RF In trace has to work in the combined GNSS L1 + L2 signal band.
  • Page 98 ZED-F9P - Integration Manual For FR-4 PCB material with a Dielectric permativity of for example 4.7 we can calculate the trace width at 1575 MHz for 50 Ω impedance. Figure 72: Microstrip trace width A grounded co-planar RF trace is recommended as it provides the maximum shielding from noise with adequate vias to the ground layer.

  • Page 99: Vias For The Ground Pads

    8.8.3 VCC pads The VCC pads for the ZED-F9P high precision receiver need to be as low an impedance as possible with large vias to the lower Power layer of the PCB. The VCC pads need a large combined pad and the de-coupling capacitors must be placed as close as possible.

  • Page 100: Design In Checklist

    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. • GNSS receivers require a stable power supply. Avoid series resistance (less than 0.2 Ω) in your power supply line (the line to VCC) to minimize the voltage ripple on VCC.

  • Page 101: Antenna/ Rf Input

    Ensure the ground pads under the module are connected to ground. 8.9.5 Schematic design-in. For a minimal design with the ZED-F9P GNSS modules, the following functions and pins need to be considered: • Connect the power supply to VCC and V_BCKP.
  • Page 102 ZED-F9P - Integration Manual Pin No Name Description Remark RF_IN_1 RF input ESD protection required, active antenna, L1/L2 band. Bias-t needed. Ground Outer ground pin ANT_DETECT Active antenna detect Leave open if not used. Add zero Ω jumper if used. ANT_OFF External LNA disable...

  • Page 103: Layout Design-In Checklist

    • Is the ZED-F9P placed away from any heat source? • Is the ZED-F9P placed away from any air cooling source? • Is the ZED-F9P shielded by a cover/case to prevent the effects of air currents and rapid environmental temperature changes? •...

  • Page 104: Product Handling

    ZED-F9P - Integration Manual 9 Product handling 9.1 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 105 ZED-F9P - Integration Manual Figure 77: Soldering Profile 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 106: 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 107 ZED-F9P - Integration Manual Figure 78: Orientation of ZED-F9P high precision receivers on the tape The dimensions of the tapes for ZED-F9P high precision receivers are specified in Figure 79 (measurements in mm). Figure 79: ZED-F9P tape dimensions (mm) UBX-18010802 - R02...

  • Page 108: 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 109: Appendix

    ZED-F9P - Integration Manual 10 Appendix 10.1 RTCM ITRF Geodetic models RTK is a differential system where the rover uses the reference datum of the reference station. The International Terrestrial Reference Frame (ITRF) must be obtained from the reference network and then used to transform the rover position output to match the required reference frame. The rover will not output the position in the local receiver WGS84 (based on ITRF2008) datum, it will match the reference receiver (or base) reference frame.

  • Page 110: Virtual Reference Station

    ZED-F9P - Integration Manual For example viewing RTK accurate positions that could be in any ITRF transform reference frame (based on reference receiver (or base) reference frame) on Google Earth: The heights on Google Earth refer to EGM96 and are, therefore, Geoidal heights.
  • Page 111 ZED-F9P - Integration Manual The picture below shows the network of reference stations used to build up a service covering the whole of Switzerland. Figure 81: VRS network in Switzerland The network of receivers is linked to a computation center, and each station contributes its raw data to help create network-wide models of the distance-dependent errors.

  • Page 112: 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). UBX-18010802 - R02...

  • Page 113: Revision History

    ZED-F9P - Integration Manual 12 Revision history Revision Date Name Status / Comments 22-May-2018 ghun Objective Specification 03-Oct-2018 ghun Advance Information UBX-18010802 - R02 12 Revision history Page 113 of 114   Advance Information...
  • Page 114 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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