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3
Setting up
3.1 Preparation
ADR requires odometer sensor input from the vehicle reference point (VRP), that is, wheel ticks or
speed, and direction. The following options are available:
1. WHEELTICK and DIRECTION pins
2. UBX-ESF-MEAS messages
3. CAN_H and CAN_L pins
See the ZED-F9R documentation ([1], [2]) for more information about options 1 and 2. For option 3,
refer to chapter 4.
☞
By default, the CAN bus is terminated by the unit. See appendix A.1 for how to change the
termination.
⚠
Take care when connecting to the vehicle to avoid blocking the CAN bus traffic, potentially
creating serious malfunction of the vehicle.
High-precision positioning uses RTK, which can be easily configured with the u-center NTRIP client.
Refer to the ZED-F9R documentation ([1], [2]) and u-center User guide [3] for more information.
☞
The provided correction service provider credentials are valid only in certain regions. Check the
validity of the license in your region from the correction service provider webpage.
3.2 Installation
Follow these steps to complete the installation.
3.2.1 Mounting the device and the antenna to the vehicle
Attach the device to the vehicle firmly to avoid any movement or vibration. For testing purposes, a
good location is near the VRP, that is, the center of the rear axle.
⚠
Dead reckoning performance can be seriously impaired by changes in the orientation of the device.
Place the provided GNSS antenna in a location with an unobstructed view of the sky, for example, the
roof of the vehicle. For best performance, ensure that the antenna has contact to a ground plane with
a minimum of 100–150 mm diameter.
⚠
To achieve the best possible performance, the GNSS antenna should be positioned on the vehicle
roof over the EVK. If the antenna is placed at a significant distance from the EVK, a position offset
can be introduced which might affect the accuracy of the navigation solution. To compensate for
the position offset, advanced configurations can be applied. Contact u-blox support for more
information on advanced configurations.
3.2.2 Connecting the cables
1. Connect the GNSS antenna to the RF connector on the front panel.
2. Connect the ADR signals to the related pins on the front connector:
a. Analog wheel tick and direction signals to pins WHEELTICK and DIRECTION, or
b. CAN high to CAN_H, CAN low to CAN_L.
3. Connect the device to a PC via USB for host interface and to power the device.
UBX-20029244 - R03
C1-Public
Setting up
C102-F9R - User guide
Page 8 of 32
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