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u-blox ZED-F9H Integration Manual

F9 module for heading applications
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ZED-F9H
u-blox F9 module for heading applications
Integration manual
Abstract
This document describes the features and application of ZED-F9H, a multi-
band GNSS module for heading applications, designed to provide the best
possible heading information to applications where precise attitude is of
greatest importance.
www.u-blox.com
UBX-19030120 - R04
C1-Public

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Summary of Contents for u-blox ZED-F9H

  • Page 1 F9 module for heading applications Integration manual Abstract This document describes the features and application of ZED-F9H, a multi- band GNSS module for heading applications, designed to provide the best possible heading information to applications where precise attitude is of greatest importance.
  • Page 2 fitness for a particular purpose of the information. This document may be revised by u-blox at any time without notice. For the most recent documents, visit www.u-blox.com.

  • Page 3: Table Of Contents

    2 System description.......................7 2.1 Overview..............................7 2.1.1 GNSS-based attitude determination..................7 2.2 Architecture..............................8 2.2.1 Block diagram..........................8 2.2.2 Typical ZED-F9H 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...
  • Page 4 3.12 Security..............................57 3.12.1 Spoofing detection / monitoring.................... 57 3.12.2 Jamming/interference indicator.................... 58 3.12.3 GNSS receiver integrity......................59 3.13 u-blox protocol feature descriptions....................59 3.13.1 Broadcast navigation data...................... 59 3.14 Forcing a receiver reset........................66 3.15 Firmware upload..........................66 3.16 Spectrum analyzer..........................67 4 Design.............................
  • Page 5 ZED-F9H - Integration manual 4.6.3 Out-of-band interference......................79 4.7 Layout..............................79 4.7.1 Placement............................79 4.7.2 Thermal management........................ 79 4.7.3 Package footprint, copper and paste mask................80 4.7.4 Layout guidance........................... 81 4.8 Design guidance............................83 4.8.1 General considerations....................... 83 4.8.2 Backup battery..........................83 4.8.3 RF front-end circuit options...................... 83 4.8.4 Antenna/RF input........................

  • Page 6: Integration Manual Overview

    ZED-F9H - Integration manual 1 Integration manual overview This document is an important source of information on all aspects of ZED-F9H system, software and hardware design. The purpose of this document is to provide guidelines for a successful integration of the receiver with the customer's end product.

  • Page 7: System Description

    2.1.1.1 RTK modes of operation The ZED-F9H supports the following modes of operation: ZED-F9H operating as a rover in a moving baseline setup: It receives RTCM correction data from a ZED-F9P operating as a moving base and then provides heading information.

  • Page 8: Architecture

    ZED-F9H - Integration manual 2.2 Architecture The ZED-F9H receiver provides all the necessary RF and baseband processing to enable multi- constellation operation. The block diagram below shows the key functionality. 2.2.1 Block diagram Figure 2: ZED-F9H block diagram An active antenna is mandatory with the ZED-F9H.
  • Page 9 ZED-F9H - Integration manual Figure 3: ZED-F9H orientation of a vehicle in space Figure 4: ZED-F9H used for drone heading determination UBX-19030120 - R04 2 System description Page 9 of 101   C1-Public...
  • Page 10 ZED-F9H - Integration manual Figure 5: ZED-F9H used for automotive heading determination UBX-19030120 - R04 2 System description Page 10 of 101   C1-Public...

  • Page 11: Receiver Functionality

    This section describes the ZED-F9H operational features and their configuration. 3.1 Receiver configuration The ZED-F9H is fully configurable with UBX configuration interface keys. The configuration database in the receiver's RAM holds the current configuration, which is used by the receiver at run-time.

  • 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-F9H 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 ZED-F9H - Integration manual Constellation Constellation key Band key Band key enabled? CFG-SIGNAL-GPS_ENA CFG-SIGNAL-GPS_L1CA_ENA CFG-SIGNAL-GPS_L2C_ENA Unsupported true (1) true (1) false (0) combination true (1) true (1) true (1) Table 3: Example of possible values of configuration items for the GPS constellation 3.1.4.4 Antenna supervisor configuration...

  • Page 15: Moving Base Rtk Configuration

    F9H rover. In such a setup, the base and the rover are mounted on the same moving platform. The ZED-F9P moving base sends correction to the ZED-F9H rover, enabling it to compute its heading relative to the base, i.e. the platform heading, with high accuracy.
  • Page 16 MSM observation messages. Otherwise, the rover cannot compute its position. With a direct connection between the ZED-F9P moving base and the ZED-F9H rover this will not be an issue. On a more complex networked communication system such as automotive or a shipping vessel this needs to be considered.
  • Page 17 ZED-F9H - Integration manual • UBX-NAV-RELPOSNED • The diffSoln and relPosValid flags will be set • The carrSoln flag will be set to 1 for RTK float and 2 for RTK fixed • The isMoving flag will be set • The relPosValid flag will be set if the rover managed to get the time-matched observations in time and process the moving base solution •...

  • Page 18: Legacy Configuration Interface Compatibility

    CFG-NAVSPG-* configuration keys. 3.1.7.1 Platform settings u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment. These platform settings can be changed dynamically without performing a power cycle or reset. The settings improve the receiver's interpretation of the measurements and thus provide a more accurate heading output.
  • Page 19 3D fix (min four satellites 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 satellites. 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 20 ZED-F9H - Integration manual 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. The CFG-NAVSPG-OUTFIL_TDOP and CFG-NAVSPG-OUTFIL_TACC configuration items also define TDOP and time accuracy values that are used in order to establish whether a fix is regarded as locked...
  • Page 21 ZED-F9H - Integration manual of the valid flag (e.g. position accuracy estimate exceeding the position accuracy mask, see also section Navigation output filters), position displacement, etc. 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.
  • Page 22 ZED-F9H - Integration manual Figure 7: Flowchart of the static hold mode 3.1.7.5 Freezing the course over ground If the low-speed course over ground filter is deactivated or inactive, the receiver derives the course over ground from the GNSS velocity information. If the velocity cannot be calculated with sufficient accuracy (e.g., with bad signals) or if the absolute speed value is very low (under 0.1 m/s) then the...

  • Page 23: Sbas

    Figure 8: Flowchart of the course over ground freezing 3.1.7.6 ZED-F9H position output The ZED-F9H does not provide position information in any output message. For backwards compatibility, UBX and NMEA messages with position information are still available. Note that in such messages the position information fields will be set to NULL (NMEA), or to 0/0/0 (UBX, NMEA)
  • Page 24 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 25: Qzss Slas

    3.3.1 Features Multiple QZSS SLAS signals can be received simultaneously. When receiving QZSS SLAS correction data, the ZED-F9H 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 26: Configuration

    ZED-F9H - Integration manual Message type Message content Satellite health Table 12: Supported QZSS L1S SLAS messages for navigation enhancing 3.3.2 Configuration To enable support for the necessary QZSS L1S signal, use the CFG-SIGNAL-QZSS_L1S_ENA configuration item. To configure further QZSS SLAS functionalities, use the CFG-QZSS-USE_SLAS* configuration items.

  • Page 27: 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-F9H is assigned PIO3 that is assigned to module pin 19. 3.5 Logging 3.5.1 Introduction...

  • Page 28: Setting The Logging System Up

    ZED-F9H - Integration manual Message Description UBX-LOG-RETRIEVE Starts the log retrieval process UBX-LOG-RETRIEVEPOS A position log entry returned by the receiver UBX-LOG-RETRIEVEPOSEXTRA Odometer position data UBX-LOG-RETRIEVESTRING A byte string log entry returned by the receiver UBX-LOG-FINDTIME Finds the index of the first entry (given time) Table 15: Logging retrieval messages 3.5.2 Setting the logging system up...

  • Page 29: Recording

    ZED-F9H - Integration manual Log type Overhead circular Up to 40 kB non-circular Up to 8 kB Table 16: Log overhead size The number of entries that can be logged in any given flash size can be estimated as follows: Approx. number of entries = (flash size available for logging - log overhead)/typical entry size For example, if 1500 kB of flash is available for logging (after other flash usage such as the firmware...

  • Page 30: Retrieval

    ZED-F9H - 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 31: Communication Interfaces

    NMEA) can be assigned to a single port (multi-protocol capability), which is particularly useful for debugging purposes. The ZED-F9H provides UART1, UART2, SPI, I2C and USB interfaces for communication with a host CPU. The interfaces are configured via the configuration methods described in the applicable interface description [2].

  • Page 32: Uart

    The ZED-F9H includes two UART serial ports. UART1 can be used as a host interface for configuration, monitoring and control. UART2 is available as an optional stand-alone correction interface and cannot be used as a host interface.

  • Page 33: 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 I2C industry standard fast mode.
  • Page 34 ZED-F9H - 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 35 ZED-F9H - 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 36: Spi Interface

    Figure 18: I2C write access 3.6.3 SPI interface The ZED-F9H 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 37: Usb Interface

    USB host compatibility testing is thus recommended in this scenario. The ZED-F9H 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 38: Predefined Pios

    Table 19: D_SEL configuration 3.7.2 RESET_N The ZED-F9H 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 39: Timepulse

    I/O port. 3.7.4 TIMEPULSE The ZED-F9H high precision receiver provides a time pulse on the TIMEPULSE pin. More information about the time pulse feature and its configuration can be found in the Time pulse section.

  • Page 40: Geofence_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-F9H high precision receiver is assigned PIO3 that is assigned to module pin 19. 3.7.8 RTK_STAT interface The ZED-F9H provides an RTK_STAT pin that provides an indication of the RTK positioning status.

  • Page 41: Antenna Voltage Control - Ant_Off

    The following schematic details the required circuit and the sections following it explain how to enable and monitor each feature: Figure 21: ZED-F9H antenna supervisor The bias-t inductor must be chosen for multi-band operation; a value of 47 nH ±5% is required for our recommended Murata part, with the current limited below its 300 mA rating.

  • Page 42: Antenna Short Detection - Ant_Short_N

    ZED-F9H - Integration manual Enable antenna voltage control setting configuration item CFG-HW- ANT_CFG_VOLTCTRL to true (1). Result: • UBX-MON-RF in u-center "Message View": Antenna status = OK. Antenna power status = ON • ANT_OFF pin = active high to turn antenna off therefore the pin is low to enable an external antenna.

  • Page 43: Antenna Open Circuit Detection - Ant_Detect

    ZED-F9H - Integration manual • UBX-MON-RF in u-center "Message View": Antenna status = OK. Antenna power status = ON • ANT_OFF = active high there for the PIO is low to enable an external antenna • ANT_SHORT_N = high (PIO pull up enabled to be pulled low if shorted) Start-up message at power up if configuration is stored:...

  • Page 44: Multiple Gnss Assistance (Mga)

    The retained information can also significantly improve time to first fix (TTFF). There are several ways in which a u-blox receiver can retain useful data while it is powered down, including: •...

  • Page 45: Assistnow Online

    3.9.4.1 Host software As u-blox receivers have no means to connect directly with the internet, the AssistNow Online system can only work if the host system that contains the receiver can connect to the internet, download the data from the AssistNow Online Service and forward it on to the receiver. In the...
  • Page 46 (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 47 When this data is supplied to the u-blox receiver, depending on the accuracy of the provided data, the receiver can then choose to select a better startup strategy. For example, if the position is accurate to 100 km or better, the u-blox receiver will choose to go UBX-19030120 - R04...

  • Page 48: 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 49: 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 50: Gnss Times

    ZED-F9H - Integration manual accuracy in UBX-NAV-PVT) of the calculated times (see also the GNSS times section below for further messages containing time information). 3.10.4 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.

  • Page 51: Leap Seconds

    23:59:58 will be followed by 00:00:00. u-blox receivers are designed to handle leap seconds in their UTC output and consequently users processing UTC times from either NMEA or UBX messages should be prepared to handle minutes that are either 59 or 61 seconds long.

  • Page 52: Timing Functionality

    GLONASS, BeiDou and Galileo to be unambiguous and, where necessary, use this to resolve any ambiguity in the GPS date. Customers attaching u-blox receivers to simulators should be aware that GPS time is referenced to 6th January 1980, GLONASS to 1st January 1996, Galileo to 22nd August 1999 and BeiDou to 1st January 2006;...
  • Page 53 ZED-F9H - Integration manual 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 54 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 EXTINT pins) and output (via the TIMEPULSE pin) and the parameters reported in corresponding messages.
  • Page 55 ZED-F9H - 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 56: Timemark

    ZED-F9H - 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 57: Security

    Figure 26: Timemark 3.12 Security The security concept of ZED-F9H 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 58: Jamming/Interference Indicator

    ZED-F9H - 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 59: Gnss Receiver Integrity

    The ZED-F9H 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-F9H verifies the signature at each start. 3.13 u-blox protocol feature descriptions 3.13.1 Broadcast navigation data...
  • Page 60 ZED-F9H - 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 message structure in the GPS L1C/A (LNAV) and L2C/L5 (CNAV) signals is different and thus the UBX-RXM-SFRBX message structure differs as well.
  • Page 61 ZED-F9H - Integration manual Figure 28: GPS L2C subframe words 3.13.1.3 GLONASS For GLONASS L1OF and L2OF signals, the UBX-RXM-SFRBX message contains a string content within the frame structure as described in the GLONASS ICD. This string comprises 85 data bits which are reported over three 32-bit words in the 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 62 ZED-F9H - Integration manual Figure 29: GLONASS navigation message data In some circumstances, (especially on startup) the receiver may be able to decode data from a GLONASS satellite before it can identify it. When this occurs UBX-RXM-SFRBX messages will be issued with an svId of 255 to indicate "unknown".
  • Page 63 ZED-F9H - Integration manual 3.13.1.5.1 Galileo E1-B For the Galileo E1-B signal, 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 Galileo "Nominal" pages the eight words are arranged as follows:...
  • Page 64 ZED-F9H - Integration manual 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). 3.13.1.5.2 Galileo E5b For the Galileo E5b in-phase signal data component, each reported subframe contains a pair of I/ NAV pages as described in the Galileo ICD.
  • Page 65 ZED-F9H - Integration manual 3.13.1.6 SBAS For SBAS (L1C/A) signals each reported subframe contains eight 32-bit data words to deliver the 250 bits transmitted in each SBAS data block. The eight words are arranged as follows: 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 of GPS...

  • Page 66: Forcing A Receiver Reset

    • Controlled GNSS start starts all GNSS tasks. 3.15 Firmware upload ZED-F9H is supplied with firmware. u-blox may release updated images containing, for example, security fixes, enhancements, bug fixes, etc. Therefore it is important that customers implement a firmware update mechanism in their system.

  • Page 67: Spectrum Analyzer

    A firmware image is a binary file containing the software to be run by the GNSS receiver. A firmware update is the process of transferring a firmware image to the receiver and storing it in non-volatile flash memory. Contact u-blox for more information on firmware update. 3.16 Spectrum analyzer Supported from firmware version HDG 1.13 onwards The receiver has an integrated spectrum analyzer function which can be visualized together with u- center.

  • Page 68: Design

    The pin assignment of the ZED-F9H module is shown in Figure 34. The defined configuration of the PIOs is listed in Table The ZED-F9H is an LGA package with the I/O on the outside edge and central ground pads. Figure 34: ZED-F9H pin assignment Pin no. Name Description...
  • Page 69 ZED-F9H - Integration manual Pin no. Name Description 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 corrections...

  • Page 70: Power Supply

    If V_BCKP is not provided, the module performs a cold start at power up. If a host is connected to ZED-F9H, V_BCKP can be partially emulated by using UBX-UPD-SOS functionality. BBR data can saved to the host and restored at startup. See Interface description more information.

  • Page 71: Zed-F9H Power Supply

    4.2.3 ZED-F9H power supply The ZED-F9H 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 72: Antenna

    ZED-F9H - Integration manual Figure 36: Minimal ZED-F9H design For a minimal design with the ZED-F9H 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 73: Antenna Bias

    ZED-F9H - 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 74 ZED-F9H - Integration manual 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-F9H module matches the antenna working voltage (e.g. 3.0 V).
  • Page 75 ZED-F9H - Integration manual Figure 39: ZED-F9H reference design for antenna bias L1: Murata LQG15HS47NJ02 0402 47 N 5% 0.30 A -55/+125 C 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 76: Eos/Esd Precautions

    The supply voltage for the bias-t and its current capability is part of the calculation. Figure 41: ZED-F9H external voltage antenna bias 4.5 EOS/ESD precautions To avoid overstress damage during production or in the field it is essential to observe strict EOS/ESD/EMI handling and protection measures.

  • Page 77: Eos Precautions

    Figure 43: Active antenna EOS protection 4.5.3 Safety precautions The ZED-F9H 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 78: General Notes On Interference Issues

    ZED-F9H - Integration manual permanently. Another type of interference can be caused by noise generated at the PIO pins that 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.

  • Page 79: 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-F9H 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 80: Package Footprint, Copper And Paste Mask

    4.7.3 Package footprint, copper and paste mask Copper and solder mask dimensioning recommendations for the ZED-F9H module packages are provided in this section. These are recommendations only and not specifications. The exact copper, solder and paste mask geometries, distances, stencil thickness and solder paste volumes must be adapted to the specific production processes (e.g.

  • Page 81: Layout Guidance

    ZED-F9H - Integration manual 4.7.3.2 Paste mask Figure 45: ZED-F9H suggested paste mask 4.7.4 Layout guidance The presented layout guidance reduces the risk of performance issues at design level. 4.7.4.1 RF In trace The RF in trace has to work in the combined GNSS signal bands.
  • Page 82 4.7.4.2 Vias for the ground pads The ground pads under the ZED-F9H 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 83: 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-F9H GNSS module with the specification of your power supply.

  • Page 84: Antenna/Rf Input

    ZED-F9H - Integration manual Additional points on the RF input • What is the expected quality of the signal source (antenna)? • What is the external active antenna signal power? • What is the bandwidth and filtering of the external active antenna? •...

  • Page 85: 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-F9H 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 86: Product Handling

    ZED-F9H - Integration manual 5 Product handling 5.1 ESD handling precautions ZED-F9H contains highly sensitive electronic circuitry and is an Electrostatic Sensitive Device (ESD). Observe precautions for handling! Failure to observe these precautions can result in severe damage to the GNSS receiver! •...
  • Page 87 ZED-F9H - Integration manual As a reference, see “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 the preheat phase does not replace prior baking procedures.
  • Page 88 ZED-F9H - Integration manual Modules must not be soldered with a damp heat process. Optical inspection After soldering the module, consider optical inspection. Cleaning Do not clean with water, solvent, or ultrasonic cleaner: • Cleaning with water will lead to capillary effects where water is absorbed into the gap between the baseboard and the module.

  • Page 89: 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 90: Reels

    Figure 51: ZED-F9H tape dimensions (mm) 5.4 Reels The ZED-F9H receivers are deliverable in quantities of 250 pieces on a reel. The receivers are shipped on reel type B, as specified in the u-blox Package Information Guide [3]. 5.5 Moisture sensitivity levels The moisture sensitivity level (MSL) for ZED-F9H is specified in the table below.

  • Page 91: Appendix

    ZED-F9H - 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 92 ZED-F9H - Integration manual In this procedure, the UART1 is set with an appropriate baud rate for communicating with a host. Then a set of output messages are set to enable receiver status monitoring. Using the UBX-CFG-VALSET configuration window in the u-center Message View, set the UART1 interface for the correct host baud rate: Select Group: CFG-UART1, Key name: CFG-UART1-BAUDRATE.
  • Page 93 ZED-F9H - Integration manual Select the added Key. It will now give the option of setting or reading the current value. See Figure Figure 53: 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 94 ZED-F9H - 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 54: 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 95: C Stacked Patch Antenna

    DGNSS to Float and, ultimately, into Fixed mode. This will occur when it is receiving all required RTCM messages, including RTCM 4072.0, under sufficient signal conditions. The ZED-F9H will not output any position information in u-center or in any messages. C Stacked patch antenna A typical low-cost L1 + L2 antenna is based on a stacked patch antenna design.
  • Page 96 ZED-F9H - Integration manual Figure 56: 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 97 L1 + L2 antenna is shown below. Figure 58: 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-F9H.
  • Page 98 ZED-F9H - Integration manual Figure 59: 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 99: Related Documents

    Packaging information for u-blox chips, modules, and antennas, UBX-14001652 ZED-F9H Moving Base application note, UBX-19033958 For regular updates to u-blox documentation and to receive product change notifications please register on our homepage https://www.u-blox.com. UBX-19030120 - R04 Related documents Page 99 of 101  ...

  • Page 100: Revision History

    Date Name Status / comments 24-Sep-2019 ghun HDG 1.12 and ZED-F9H-00B-01 release 25-Feb-2020 jhak Updated minimum and maximum gains in Antenna specifications table. Tape feed and dimension pictures updated. Added suggested footprint and paste mask images. Improved sections Communications interfaces and Security.
  • Page 101 ZED-F9H - 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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