ZED-F9P Integration manual

1 ZED-F9P . u-blox F9 high precision GNSS module Integration manual Abstract This document describes the features and application of the ZED-F9P , a multi-band GNSS module with integrated RTK o ering centimeter-level accuracy. UBX-18010802 - R10. C1-Public ZED-F9P - Integration manual Document information Title ZED-F9P . Subtitle u-blox F9 high precision GNSS module Document type Integration manual Document number UBX-18010802. Revision and date R10 17-Dec-2021. Disclosure restriction C1-Public This document applies to the following products: Type number FW version PCN reference RN reference ZED-F9P -02B-00 HPG - UBX-20019211. ZED-F9P -04B-00 HPG - UBX-21047459. u-blox or third parties may hold intellectual property rights in the products, names, logos and designs included in this document.

2 Copying, reproduction, modi cation or disclosure to third parties of this document or any part thereof is only permitted with the express written permission of u-blox. The information contained herein is provided "as is" and u-blox assumes no liability for its use. No warranty, either express or implied, is given, including but not limited to, with respect to the accuracy, correctness, reliability and tness 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 Copyright 2021, u-blox AG. UBX-18010802 - R10 Page 2 of 119. C1-Public ZED-F9P - Integration manual Contents 1 Integration manual 6. 2 System 7. Correction 7. Real time Block Typical ZED-F9P application 3 Receiver Receiver con 12. Changing the receiver con 12.

3 Default GNSS con 12. Default interface Basic receiver con 14. RTK con 16. PPP-RTK con 24. Legacy con guration interface 27. Navigation con 27. Primary and secondary 32. 32. Con 33. Expected output 34. Example use 34. 34. QZSS 36. 36. Con 37. 37. 37. Geofence state 38. Using a PIO for geofence state 38. 38. Setting the logging system 39. Information about the 39. 40. 41. Command message 42. Protection 42. 42. 43. Expected Example use 45. UBX-18010802 - R10 Contents Page 3 of 119. C1-Public ZED-F9P - Integration manual Communication 45. 47. I2C SPI USB 52. Prede ned 53. 53. 54. 54. GEOFENCE_STAT 55. RTK_STAT Antenna Antenna voltage control - 56. Antenna short detection - 57. Antenna short detection auto Antenna open circuit detection - 58. Multiple GNSS assistance (MGA)..59. 59. Preserving MGA and operational data during power-o.

4 59. Clocks and 59. Receiver local 59. Navigation 60. iTOW 60. GNSS Time UTC Leap Real-time Timing Time 67. Spoo ng detection / 69. Jamming/interference detection / GNSS receiver 70. u-blox protocol feature 71. Broadcast navigation 71. Forcing a receiver Firmware 78. Spectrum 79. 4 81. Pin Power 83. VCC: Main supply 83. V_BCKP: Backup supply 83. ZED-F9P power 84. UBX-18010802 - R10 Contents Page 4 of 119. C1-Public ZED-F9P - Integration manual ZED-F9P minimal 84. Antenna 86. EOS/ESD 89. ESD protection 89. EOS Safety 90. Electromagnetic interference on I/O 90. General notes on interference 91. In-band interference Out-of-band 92. 92. 92. Thermal 92. Package footprint, copper and paste 93. Layout 94. Design General 96. Backup 96. RF front-end circuit 96. Antenna/RF 97. Ground 98. Schematic 98.

5 Layout design-in 98. 5 Product 99. ESD handling 99. 99. 102. 103. Moisture sensitivity 103. A 104. B Reference 105. C RTK con guration procedures with 105. Base con guration with Rover con guration with 109. D Stacked patch Related Revision 118. UBX-18010802 - R10 Contents Page 5 of 119. C1-Public ZED-F9P - Integration manual 1 Integration manual overview This document is an important source of information on all aspects of ZED-F9P 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. UBX-18010802 - R10 1 Integration manual overview Page 6 of 119. C1-Public ZED-F9P - Integration manual 2 System description Overview The ZED-F9P positioning module features the u-blox F9 receiver platform, which provides multi- band GNSS to high-volume industrial applications.

6 The ZED-F9P has integrated u-blox multi- band RTK and PPP-RTK1 technologies for centimeter-level accuracy. The module enables precise navigation and automation of moving machinery in industrial and consumer-grade products in a compact surface-mounted form factor of only x x mm. The ZED-F9P includes moving base support, allowing both base and rover to move while computing the position between them. The moving base is ideal for UAV applications where the UAV is programmed to follow its owner or to land on a moving platform. It is also well suited to attitude sensing applications where both base and rover modules are mounted on the same moving platform and the relative position is used to derive attitude information for the vehicle or tool. Correction services u-blox ZED-F9P can use di erent types of correction services which broadly fall into two categories, based either on an Observation State Representation (OSR) or a State Space Representation (SSR) of the errors.

7 These categories use di erent techniques, delivery mechanisms, and core technologies to solve the same problem the mitigation of key GNSS errors in order to enable high precision GNSS: 1. OSR services provide GNSS observations from the nearest reference station (or virtual reference station) to the rover. A communication link from reference station or virtual reference station to the rover is needed. The data is dependent on the position of the rover. 2. SSR services rely on GNSS reference station network to model key errors (such as satellite or atmospheric errors) over large geographical regions and provide corrections to the rover via broadcast link such as internet or satellite L-band. All receivers receive the same data over a large area. In this document, the following terminology is used: RTK refers to OSR-based solution (using RTCM.)

8 Corrections) while PPP-RTK refers to SSR-based solution (using SPARTN or CLAS corrections). Real time kinematic u-blox ZED-F9P high precision receiver takes GNSS precision to the next level: Delivers accuracy down to the centimeter level: m + 1 ppm CEP. Fast time to rst x and robust performance with multi-band, multi-constellation reception Compatible with leading correction services for global coverage and versatility Some typical applications for the ZED-F9P are shown below: 1 PPP-RTK technology is only available from rmware onwards UBX-18010802 - R10 2 System description Page 7 of 119. C1-Public ZED-F9P - Integration manual Figure 1: Typical applications for the ZED-F9P . RTK modes of operation The ZED-F9P supports the following modes of operation: 1. ZED-F9P operating as a base: It provides RTCM correction data to a ZED-F9P rover, or to a network of ZED-F9P rovers.

9 2. ZED-F9P operating as a rover: It receives RTCM correction data from a ZED-F9P operating as a base, or from a virtual reference service provider operating a network of base receivers. PPP-RTK modes of operation The ZED-F9P operating as a rover supports the following additional operation modes: It can receive SPARTN correction data via internet from the data center of the GNSS reference station network It can receive SPARTN correction data via L-band satellite channel (a u-blox NEO-D9S may be used for such purposes). It can receive CLAS correction data transmitted from Japan's QZSS constellation (from u-blox NEO-D9C message). NTRIP - networked transport of RTCM via internet protocol Networked Transport of RTCM via internet protocol, or NTRIP, is an open standard protocol for streaming di erential data and other kinds of GNSS streaming data over the internet in accordance with speci cations published by RTCM.

10 The NTRIP protocol is also used by SSR correction service providers to stream SSR correction data over the internet ( SPARTN corrections). There are three major parts to the NTRIP system: The NTRIP client, the NTRIP server, and the NTRIP. caster: 1. The NTRIP server is a PC or an on-board computer running NTRIP server software communicating directly with a GNSS reference station. The NTRIP server serves as the intermediary between the GNSS receiver (NTRIP Source) streaming correction data and the NTRIP caster. 2. The NTRIP caster is an HTTP server which receives streaming correction data from one or more NTRIP servers and in turn streams the correction data to one or more NTRIP clients via the internet. 3. The NTRIP client receives streaming correction data from the NTRIP caster to apply as real- time corrections to a GNSS receiver.