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ZED-F9P
u-blox ZED-F9P Manuals
Manuals and User Guides for u-blox ZED-F9P. We have
3
u-blox ZED-F9P manuals available for free PDF download: Interface Description, Integration Manual
u-blox ZED-F9P Interface Description (267 pages)
Brand:
u-blox
| Category:
Control Unit
| Size: 2.92 MB
Table of Contents
Table of Contents
3
Preface
9
1 Document Overview
9
2 Firmware and Protocol Versions
9
How to Determine the Version and the Location of the Firmware
9
Decoding the Boot Screen (for Protocol Version 24 and Above)
9
Decoding the Output of UBX-MON-VER (for Protocol Version 24 and Above)
10
How to Determine the Supported Protocol Version of the U-Blox Receiver
11
U-Blox 9 Firmware and Supported Protocol Versions
11
3 Receiver Configuration
11
Interface Description
14
4 NMEA Protocol
14
Protocol Overview
14
Message Format
14
Talker ID
14
Protocol Configuration
15
Satellite Numbering
16
Latitude and Longitude Format
16
Position Fix Flags
17
Multi-GNSS Considerations
18
Output of Invalid/Unknown Data
18
Messages Overview
18
Standard Messages
20
Dtm
20
Gbq
21
Gbs
21
Gga
22
Gll
24
Glq
25
Gnq
25
Gns
26
Gpq
27
Grs
27
Gsa
28
Gst
29
Gsv
30
Rmc
31
Txt
32
Vlw
33
Vtg
34
Zda
35
5 UBX Protocol
35
UBX Protocol Key Features
35
UBX Frame Structure
35
UBX Payload Definition Rules
36
Structure Packing
36
Reserved Elements
36
Undefined Values
36
Message Naming
37
Number Formats
37
UBX Checksum
37
UBX Message Flow
38
Acknowledgement
38
Polling Mechanism
38
UBX Class Ids
39
UBX Messages Overview
40
UBX-ACK (0X05)
45
UBX-ACK-ACK (0X05 0X01)
45
UBX-ACK-NAK (0X05 0X00)
45
UBX-CFG (0X06)
46
UBX-CFG-ANT (0X06 0X13)
46
UBX-CFG-CFG (0X06 0X09)
47
UBX-CFG-DAT (0X06 0X06)
49
UBX-CFG-DGNSS (0X06 0X70)
51
UBX-CFG-DYNSEED (0X06 0X85)
52
UBX-CFG-FIXSEED (0X06 0X84)
52
UBX-CFG-GEOFENCE (0X06 0X69)
53
UBX-CFG-GNSS (0X06 0X3E)
54
UBX-CFG-INF (0X06 0X02)
56
UBX-CFG-ITFM (0X06 0X39)
58
UBX-CFG-LOGFILTER (0X06 0X47)
59
UBX-CFG-MSG (0X06 0X01)
61
UBX-CFG-NAV5 (0X06 0X24)
62
UBX-CFG-NAVX5 (0X06 0X23)
64
UBX-CFG-NMEA (0X06 0X17)
67
UBX-CFG-ODO (0X06 0X1E)
70
UBX-CFG-PRT (0X06 0X00)
71
UBX-CFG-PWR (0X06 0X57)
82
UBX-CFG-RATE (0X06 0X08)
82
UBX-CFG-RINV (0X06 0X34)
83
UBX-CFG-RST (0X06 0X04)
84
UBX-CFG-TMODE3 (0X06 0X71)
85
UBX-CFG-TP5 (0X06 0X31)
87
UBX-CFG-USB (0X06 0X1B)
89
UBX-CFG-VALDEL (0X06 0X8C)
90
UBX-CFG-VALGET (0X06 0X8B)
93
UBX-CFG-VALSET (0X06 0X8A)
94
UBX-INF (0X04)
98
UBX-INF-DEBUG (0X04 0X04)
98
UBX-INF-ERROR (0X04 0X00)
98
UBX-INF-NOTICE (0X04 0X02)
99
UBX-INF-TEST (0X04 0X03)
99
UBX-INF-WARNING (0X04 0X01)
100
UBX-LOG (0X21)
101
UBX-LOG-CREATE (0X21 0X07)
101
UBX-LOG-ERASE (0X21 0X03)
102
UBX-LOG-FINDTIME (0X21 0X0E)
102
UBX-LOG-INFO (0X21 0X08)
103
UBX-LOG-RETRIEVEPOSEXTRA (0X21 0X0F)
105
UBX-LOG-RETRIEVEPOS (0X21 0X0B)
106
UBX-LOG-RETRIEVESTRING (0X21 0X0D)
107
UBX-LOG-RETRIEVE (0X21 0X09)
107
UBX-LOG-STRING (0X21 0X04)
108
UBX-MGA (0X13)
109
UBX-MGA-ACK (0X13 0X60)
109
UBX-MGA-BDS (0X13 0X03)
110
UBX-MGA-DBD (0X13 0X80)
114
UBX-MGA-GAL (0X13 0X02)
115
UBX-MGA-GLO (0X13 0X06)
118
UBX-MGA-GPS (0X13 0X00)
121
UBX-MGA-INI (0X13 0X40)
126
UBX-MGA-QZSS (0X13 0X05)
131
UBX-MON (0X0A)
135
UBX-MON-COMMS (0X0A 0X36)
135
UBX-MON-GNSS (0X0A 0X28)
136
UBX-MON-HW2 (0X0A 0X0B)
138
UBX-MON-HW3 (0X0A 0X37)
139
UBX-MON-HW (0X0A 0X09)
140
UBX-MON-IO (0X0A 0X02)
142
UBX-MON-MSGPP (0X0A 0X06)
142
UBX-MON-PATCH (0X0A 0X27)
143
UBX-MON-RF (0X0A 0X38)
144
UBX-MON-RXBUF (0X0A 0X07)
145
UBX-MON-RXR (0X0A 0X21)
146
UBX-MON-TXBUF (0X0A 0X08)
146
UBX-MON-VER (0X0A 0X04)
147
UBX-NAV (0X01)
149
UBX-NAV-CLOCK (0X01 0X22)
149
UBX-NAV-DOP (0X01 0X04)
149
UBX-NAV-EOE (0X01 0X61)
150
UBX-NAV-GEOFENCE (0X01 0X39)
150
UBX-NAV-HPPOSECEF (0X01 0X13)
151
UBX-NAV-HPPOSLLH (0X01 0X14)
152
UBX-NAV-ODO (0X01 0X09)
153
UBX-NAV-ORB (0X01 0X34)
154
UBX-NAV-POSECEF (0X01 0X01)
157
UBX-NAV-POSLLH (0X01 0X02)
157
UBX-NAV-PVT (0X01 0X07)
158
UBX-NAV-RELPOSNED (0X01 0X3C)
161
UBX-NAV-RESETODO (0X01 0X10)
162
UBX-NAV-SAT (0X01 0X35)
163
UBX-NAV-SIG (0X01 0X43)
165
UBX-NAV-STATUS (0X01 0X03)
167
UBX-NAV-SVIN (0X01 0X3B)
169
UBX-NAV-TIMEBDS (0X01 0X24)
170
UBX-NAV-TIMEGAL (0X01 0X25)
171
UBX-NAV-TIMEGLO (0X01 0X23)
172
UBX-NAV-TIMEGPS (0X01 0X20)
173
UBX-NAV-TIMELS (0X01 0X26)
174
UBX-NAV-TIMEUTC (0X01 0X21)
176
UBX-NAV-VELECEF (0X01 0X11)
177
UBX-NAV-VELNED (0X01 0X12)
178
UBX-RXM (0X02)
179
UBX-RXM-MEASX (0X02 0X14)
179
UBX-RXM-PMREQ (0X02 0X41)
181
UBX-RXM-RAWX (0X02 0X15)
183
UBX-RXM-RLM (0X02 0X59)
186
UBX-RXM-RTCM (0X02 0X32)
187
UBX-RXM-SFRBX (0X02 0X13)
188
UBX-SEC (0X27)
189
UBX-SEC-SIGN (0X27 0X01)
189
UBX-SEC-UNIQID (0X27 0X03)
189
UBX-TIM (0X0D)
190
UBX-TIM-TM2 (0X0D 0X03)
190
UBX-TIM-TP (0X0D 0X01)
191
UBX-TIM-VRFY (0X0D 0X06)
193
UBX-UPD (0X09)
194
UBX-UPD-SOS (0X09 0X14)
194
6 CFG Interface
197
Configuration Database
197
Configuration Items
197
Configuration Layers
198
Configuration Interface Access
199
UBX Protocol Interface
199
Configuration Data
199
Reset Behaviour
199
Configuration Reference
199
CFG-GEOFENCE: Geofencing Configuration
199
CFG-HW: Hardware Configuration
201
CFG-I2C: Configuration of the I2C Interface
201
CFG-I2CINPROT: Input Protocol Configuration of the I2C Interface
201
CFG-I2COUTPROT: Output Protocol Configuration of the I2C Interface
202
CFG-INFMSG: Inf Message Configuration
202
CFG-ITFM: Jamming/Interference Monitor Configuration
205
CFG-LOGFILTER: Data Logger Configuration
205
CFG-MOT: Motion Detector Configuration
206
CFG-MSGOUT: Message Output Configuration
206
CFG-NAVHPG: High Precision Navigation Configuration
222
CFG-NAVSPG: Standard Precision Navigation Configuration
223
CFG-NMEA: NMEA Protocol Configuration
225
CFG-ODO: Odometer and Low-Speed Course over Ground Filter Configuration
227
CFG-RATE: Navigation and Measurement Rate Configuration
228
CFG-RINV: Remote Inventory
229
CFG-SIGNAL: Satellite Systems (GNSS) Signal Configuration
229
CFG-SPI: Configuration of the SPI Interface
230
CFG-SPIINPROT: Input Protocol Configuration of the SPI Interface
230
CFG-SPIOUTPROT: Output Protocol Configuration of the SPI Interface
231
CFG-TMODE: Time Mode Configuration
231
CFG-TP: Timepulse Configuration
232
CFG-TXREADY: Tx-Ready Configuration
234
CFG-UART1: Configuration of the UART1 Interface
235
CFG-UART1INPROT: Input Protocol Configuration of the UART1 Interface
236
CFG-UART1OUTPROT: Output Protocol Configuration of the UART1 Interface
236
CFG-UART2: Configuration of the UART2 Interface
236
CFG-UART2INPROT: Input Protocol Configuration of the UART2 Interface
237
CFG-UART2OUTPROT: Output Protocol Configuration of the UART2 Interface
237
CFG-USB: Configuration of the USB Interface
238
CFG-USBINPROT: Input Protocol Configuration of the USB Interface
238
CFG-USBOUTPROT: Output Protocol Configuration of the USB Interface
238
Legacy UBX Message Fields Reference
239
7 RTCM Protocol
245
Rtcm3
245
Supported Messages
245
Configuration
246
Reference
246
Appendix
247
A Satellite Numbering
247
B UBX and NMEA Signal Identifiers
247
C Configuration Defaults
248
U-Blox 9 ZED-F9P (Version 1.00 HPG 1.00)
248
Related Documents
265
Overview
265
Related Documents for ZED-F9P
265
Revision History
266
Contact
267
U-Blox Offices
267
Advertisement
u-blox ZED-F9P Integration Manual (114 pages)
F9 high precision GNSS module
Brand:
u-blox
| Category:
Control Unit
| Size: 9.94 MB
Table of Contents
Table of Contents
3
1 Overview
7
Real Time Kinematic
7
RTK Modes of Operation
7
Typical ZED-F9P Application Setups
8
ZED-F9P in a Drone Application
8
ZED-F9P in a Robotic Mower Application
9
2 Integration Manual Structure
10
3 Getting Started
11
RTCM Corrections
12
List of Supported RTCM Input Messages
13
List of Supported RTCM Output Messages
14
NTRIP - Networked Transport of RTCM Via Internet Protocol
14
Configuration of the Base and Rover for RTK Operation
15
Time Mode Configuration on the Base
15
Required Configuration of the Base and Rover
16
Communication Interface Configuration
17
Message Output Configuration
17
Base Station: RTCM Output Configuration
18
Base and Rover: UBX Output Configuration
18
Base Station: Mode Configuration
18
Base Station: Configuration Procedure in U-Center Overview
20
Rover: Configuration Procedure in U-Center Overview
24
RTK Rover Mode Output in Messages
28
Default GNSS Configuration
28
Default Messages
29
4 Receiver Description
30
Receiver Configuration
30
Changing Configuration
30
Basic Receiver Configuration
30
Communication Interface Configuration
30
Message Output Configuration
30
GNSS Signal Configuration
31
Antenna Supervisor Configuration
32
Legacy Configuration Interface Compatibility
33
Serial Communication Ports Description
33
TX-Ready Indication
33
Extended TX Timeout
34
UART Ports
34
USB Port
34
DDC Port
35
SPI Port
38
Multiple GNSS Assistance (MGA)
39
Assistnow Online
39
Host Software
40
Assistnow Online Sequence
40
Flow Control
41
Authorization
41
Service Parameters
41
Multiple Servers
43
Broadcast Navigation Data
43
Parsing Navigation Data Subframes
43
Gps
44
Glonass
45
Beidou
46
Galileo
46
Qzss
48
Summary
49
Clocks and Time
49
Receiver Local Time
49
Navigation Epochs
49
Itow Timestamps
50
GNSS Times
51
Time Validity
51
UTC Representation
51
Leap Seconds
52
Real Time Clock
52
Date
52
Navigation Configuration Settings Description
53
Platform Settings
53
Navigation Input Filters
54
Navigation Output Filters
54
Static Hold
55
Freezing the Course over Ground
57
Degraded Navigation
58
Time Pulse
58
Introduction
58
Recommendations
59
GNSS Time Bases
60
Time Pulse Configuration
60
Configuring Time Pulse with CFG-TP
61
Forcing a Receiver Reset
62
Geofencing
63
Introduction
63
Interface
63
Geofence State Evaluation
63
Using a PIO for Geofence State Output
64
Receiver Status Monitoring
64
Input/Output System
64
Jamming/Interference Indicator
64
Jamming/Interference Monitor (ITFM)
65
Host Interface Signature Description
65
Introduction
65
Configuring the Fixed Seed and Register Messages
66
Configuring the Dynamic Seed
66
Parsing the Signature
66
Calculate the Hash
66
Spoofing Detection
67
Introduction
67
Scope
67
Timemark
67
5 Hardware Description
69
Block Diagram
69
Connecting Power
69
VCC: Main Supply Voltage
69
V_BCKP: Backup Supply Voltage
70
ZED-F9P Power Supply
70
Interfaces
71
UART Interfaces
72
SPI Interface
73
D_SEL Interface
73
RESET_N Interface
73
SAFEBOOT_N Interface
73
TIMEPULSE Interface
73
TX_READY Interface
73
USB Interface
73
Display Data Channel (DDC)
75
Antenna Supervisor
75
Extint
78
6 EOS/ESD Precautions
79
ESD Handling Precautions
79
ESD Protection Measures
79
EOS Precautions
80
Safety Precautions
80
7 Electromagnetic Interference on I/O Lines
81
General Notes on Interference Issues
81
In-Band Interference Mitigation
82
Out-Of-Band Interference
82
8 Design
83
Pin Assignment
83
RF Front-End Circuit Options
85
Antenna
86
Stacked Patch Antenna
87
ZED-F9P Minimal Design
91
ZED-F9P Antenna Bias
92
Layout
93
Placement
93
Package Footprint, Copper and Solder Mask
94
Layout Guidance
97
RF in Trace
97
Vias for the Ground Pads
99
VCC Pads
99
Design in Checklist
100
General Considerations
100
Back up Battery
100
Antenna/ RF Input
101
ZED-F9P Ground Pads
101
Schematic Design-In
101
Pin Assignment
101
Layout Design-In Checklist
103
9 Product Handling
104
Soldering
104
Tapes
106
Reels
108
Moisture Sensitivity Levels
108
10 Appendix
109
RTCM ITRF Geodetic Models
109
Virtual Reference Station
110
11 Related Documents
112
12 Revision History
113
u-blox ZED-F9P Integration Manual (110 pages)
F9 high precision GNSS module
Brand:
u-blox
| Category:
Control Unit
| Size: 8.56 MB
Table of Contents
Table of Contents
3
1 Integration Manual Structure
6
2 System Description
7
Overview
7
Real Time Kinematic
7
Architecture
8
Block Diagram
8
Typical ZED-F9P Application Setups
8
3 Receiver Functionality
11
Receiver Configuration
11
Changing the Receiver Configuration
11
Default GNSS Configuration
11
Default Interface Settings
12
Basic Receiver Configuration
12
RTK Configuration
15
Legacy Configuration Interface Compatibility
22
Navigation Configuration
22
Sbas
27
Qzss Slas
28
Features
29
Configuration
29
Geofencing
30
Introduction
30
Interface
30
Geofence State Evaluation
30
Using a PIO for Geofence State Output
31
Logging
31
Introduction
31
Setting the Logging System up
31
Information about the Log
32
Recording
32
Retrieval
34
Command Message Acknowledgment
34
Communication Interfaces
35
UART Interfaces
36
I2C Interface
37
SPI Interface
40
USB Interface
41
Predefined Pios
42
D_Sel
42
Reset_N
42
Safeboot_N
42
Timepulse
42
Tx_Ready
43
Extint
43
GEOFENCE_STAT Interface
43
RTK_STAT Interface
44
Antenna Supervisor
44
Antenna Voltage Control - ANT_OFF
45
Antenna Short Detection - ANT_SHORT_N
46
Antenna Short Detection Auto Recovery
46
Antenna Open Circuit Detection - ANT_DETECT
47
Multiple GNSS Assistance (MGA)
47
Authorization
48
Multiple Servers
48
Preserving Information During Power-Off
48
Assistnow Online
48
Clocks and Time
52
Receiver Local Time
52
Navigation Epochs
52
Itow Timestamps
53
GNSS Times
53
Time Validity
54
UTC Representation
54
Leap Seconds
55
Real Time Clock
55
Date
55
Timing Functionality
56
Time Pulse
56
Timemark
60
Security
61
Spoofing Detection / Monitoring
61
Jamming/Interference Indicator
62
GNSS Receiver Integrity
63
U-Blox Protocol Feature Descriptions
63
Broadcast Navigation Data
63
Forcing a Receiver Reset
70
Spectrum Analyzer
70
4 Design
71
Pin Assignment
71
Power Supply
73
VCC: Main Supply Voltage
73
V_BCKP: Backup Supply Voltage
73
ZED-F9P Power Supply
74
ZED-F9P Minimal Design
74
Antenna
75
Antenna Bias
77
EOS/ESD Precautions
79
ESD Protection Measures
79
EOS Precautions
80
Safety Precautions
80
Electromagnetic Interference on I/O Lines
80
General Notes on Interference Issues
81
In-Band Interference Mitigation
81
Out-Of-Band Interference
82
Layout
82
Placement
82
Package Footprint, Copper and Paste Mask
82
Layout Guidance
84
Design Guidance
86
General Considerations
86
Backup Battery
86
RF Front-End Circuit Options
86
Antenna/Rf Input
87
Ground Pads
88
Schematic Design
88
Layout Design-In Guideline
88
5 Product Handling
89
ESD Handling Precautions
89
Soldering
89
Tapes
92
Reels
93
Moisture Sensitivity Levels
93
Appendix
94
A Glossary
94
B RTCM ITRF Geodetic Models
94
C RTK Configuration Procedures with U-Center
96
Base Configuration with U-Center
96
Rover Configuration with U-Center
100
D Stacked Patch Antenna
104
Related Documents
108
Revision History
109
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