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Ublox ZED-F9R Integration Manual

High precision sensor fusion gnss receiver
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ZED-F9R
High precision sensor fusion GNSS receiver
Integration manual
Abstract
This document describes how to enable a successful design with the ZED-
F9R module. It provides a reliable multi-band RTK turnkey solution with up
to 30 Hz real time position update rate and full GNSS carrier raw data.
www.u-blox.com
UBX-20039643 - R06
C1-Public

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  • Page 1  ZED-F9R High precision sensor fusion GNSS receiver Integration manual Abstract This document describes how to enable a successful design with the ZED- F9R module. It provides a reliable multi-band RTK turnkey solution with up to 30 Hz real time position update rate and full GNSS carrier raw data.
  • Page 2 ZED-F9R - Integration manual Document information Title ZED-F9R Subtitle High precision sensor fusion GNSS receiver Document type Integration manual Document number UBX-20039643 Revision and date 20-Sep-2022 Disclosure restriction C1-Public This document applies to the following products: Type number Firmware version IN/PCN reference...

  • Page 3: Table Of Contents

    ZED-F9R - Integration manual Contents 1 Integration manual overview..................... 6 2 System description.......................7 2.1 Overview..............................7 2.1.1 High precision sensor fusion (HPS)....................7 2.1.2 Priority navigation mode.......................7 2.1.3 Correction services........................8 2.1.4 Real time kinematic........................8 2.2 Architecture..............................9 2.2.1 Block diagram..........................9 3 Receiver functionality......................10 3.1 Receiver configuration.........................
  • Page 4 ZED-F9R - Integration manual 3.6 Communication interfaces......................... 49 3.6.1 UART............................... 50 3.6.2 I2C interface..........................51 3.6.3 SPI interface..........................54 3.6.4 USB interface..........................55 3.7 Predefined PIOs............................. 56 3.7.1 D_SEL..............................56 3.7.2 RESET_N............................56 3.7.3 SAFEBOOT_N..........................56 3.7.4 TIMEPULSE........................... 57 3.7.5 TX_READY............................. 57 3.7.6 EXTINT............................57 3.7.7 WT and DIR inputs........................58 3.7.8 GEOFENCE_STAT interface.......................
  • Page 5 ZED-F9R - Integration manual 4.2.1 VCC: Main supply voltage......................88 4.2.2 V_BCKP: Backup supply voltage....................88 4.2.3 ZED-F9R power supply....................... 89 4.3 ZED-F9R minimal design........................89 4.4 WT and DIR interface example......................90 4.5 Antenna..............................91 4.5.1 Antenna bias..........................93 4.6 EOS/ESD precautions.......................... 95 4.6.1 ESD protection measures......................

  • Page 6: Integration Manual Overview

    ZED-F9R - Integration manual 1 Integration manual overview This document is an important source of information on all aspects of ZED-F9R 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

    GNSS measurements with the ZED-F9R's internal 6-axis IMU and wheel tick or speed. ZED-F9R supports dynamic models that are also optimized for robotic lawn mower (RLM) and e- scooter applications. Robotic lawn mower (RLM) and e-scooter dynamics models are supported from firmware version HPS 1.21 onwards...

  • Page 8: Correction Services

    2.1.3 Correction services u-blox ZED-F9R can use different 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. These categories use different techniques, delivery mechanisms, and core technologies to solve the same problem –...

  • Page 9: Architecture

    ZED-F9R - Integration manual 2.2 Architecture The ZED-F9R receiver provides all the necessary RF and baseband processing to enable multi-band, multi-constellation operation. The block diagram below shows the key functionality. 2.2.1 Block diagram Figure 1: ZED-F9R block diagram UBX-20039643 - R06 2 System description Page 9 of 119  ...

  • Page 10: Receiver Functionality

    This section describes the ZED-F9R operational features and their configuration. 3.1 Receiver configuration The ZED-F9R 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 11: Default Interface Settings

    NMEA output. NMEA GGA output is typically used with virtual reference service correction services. By default the ZED-F9R outputs NMEA messages that include satellite data for all GNSS bands being received. This results in a high NMEA output load for each navigation period.
  • Page 12 ZED-F9R - Integration manual 3.1.4.1 Communication interface configuration Several configuration groups allow operation mode configuration of the various communication interfaces. These include parameters for the data framing, transfer rate and enabled input/output protocols. See Communication interfaces section for details. The configuration groups available for...

  • Page 13: Rtcm Corrections

    3.1.4.4 NMEA high precision mode ZED-F9R supports NMEA high precision mode. This mode increases the reported precision of the position output; latitude and longitude will have seven digits after the decimal point, and altitude will have three digits after the decimal point. By default it is not enabled since it violates the NMEA standard.
  • Page 14 ZED-F9R design. The u-center NTRIP client connects over the internet to an NTRIP service provider, using access credentials such as user name and password from the service provider. The u-center NTRIP client then forwards the RTCM 3.3 corrections to a ZED-F9R receiver connected to the local UBX-20039643 - R06...

  • Page 15: Spartn Corrections

    (SPARTN message formatted IP stream) or over L-band satellites (SPARTN L-band stream formatted as UBX-RXM-PMP messages). Only one source can be configured to be used at a time by ZED-F9R. The configuration item CFG- SPARTN-USE_SOURCE can be configured to select which source will be used. Alternatively, the input protocol configuration items of a physical port can be configured to block input support for...

  • Page 16: Encrypted Spartn Support

    SPARTN messages, which is the source of the received SPARTN message (IP or L- band), if it is used by ZED-F9R, what is the signal status in case of L-band streams, etc. Additionally some SPARTN input status information is also available in other UBX messages, such as UBX-MON- COMMS.

  • Page 17: Clas Corrections

    ZED-F9R supports CLAS corrections directly provided from NEO-D9C output in the form of UBX- RXM-QZSSL6. ZED-F9R can be directly connected to a NEO-D9C or the host application can forward the UBX-RXM-QZSSL6 message from NEO-D9C to ZED-F9R with no parsing needed.

  • Page 18: Navigation Configuration

    ZED-F9R - Integration manual For more information see the NEO-D9C integration manual and applicable interface description. 3.1.10 Navigation configuration This section presents various configuration options related to the navigation engine. These options can be configured through CFG-NAVSPG-* configuration keys. 3.1.10.1 Platform settings u-blox receivers support different dynamic platform models (see the table below) to adjust the...
  • Page 19 Robotic lawn mower (RLM) and e-scooter dynamics models are supported from firmware version HPS 1.21 onwards ZED-F9R's high precision sensor fusion algorithm is optimized for automotive, e-scooter and robotic lawn mower platforms only Applying dynamic platform models designed for high acceleration systems (e.g. airborne <2g) can result in a higher standard deviation in the reported position.

  • Page 20: High Precision Sensor Fusion (Hps)

    The firmware automatically detects and continuously calibrates the sensors. 3.2.2 HPS dynamic platform models ZED-F9R supports different dynamic platform models to adjust the high precision sensor fusion navigation engine to the expected application environment. These platform settings can be changed dynamically without performing a power cycle or reset. However, it requires a recalibration of the sensors (IMU + WT/speed measurements).
  • Page 21 Degraded HPS mode, with missing wheel tick data. More information can be found in the Degraded HPS mode section. To reach centimeter-level accuracy, the ZED-F9R requires RTCM stream at all times. The automotive dynamic model supports both the Automatic IMU-mount alignment and the User- defined IMU-mount...
  • Page 22 The RLM dynamic model does not support degraded HPS mode, and requires wheel ticks or speed data to maintain fusion mode. To reach decimeter-level accuracy, the ZED-F9R requires RTCM stream at all times. The RLM dynamic model only supports the User-defined IMU-mount alignment.

  • Page 23: Solution Type

    The solution type is called GAWT, and it is described in the following sections. To operate the ZED-F9R in GAWT mode with optimal performance, the following tasks need to be completed: •...
  • Page 24 ZED-F9R - Integration manual message providing more details. When the vehicle is subject to sufficient dynamics (i.e. left and right turns during a normal drive), the automatic IMU-mount alignment engine will estimate the IMU-mount misalignment angles. Once the automatic IMU-mount alignment engine has sufficient confidence in the estimated angles, the IMU-mount misalignment angles initialization phase is...
  • Page 25 ZED-F9R - Integration manual Figure 3: Installation frame In order to prevent significant degradation of the positioning solution the IMU-mount misalignment angles should be configured with an accuracy of less than 5 degrees. The following list describes in detail how the CFG-SFIMU-IMU_MNTALG keys are to be interpreted with respect to the example illustrated in the figure above:...

  • Page 26: Sensor Configuration

    3.2.5.1.1 Odometer interfaces Odometer data can be delivered to ZED-F9R via the following interfaces: Hardware interface: ZED-F9R has a dedicated pin (WT) for analog wheel tick signal input, and another pin (DIR) dedicated to wheel tick direction signal. • The WT pin is enabled with the CFG-SFODO-USE_WT_PIN key.
  • Page 27 ZED-F9R - Integration manual must be configured. The maximum counter value is configured by setting the CFG-SFODO- DIS_AUTOCOUNTMAX key and setting the CFG-SFODO-COUNT_MAX value to the upper threshold of the absolute wheel tick sensor count before starting again from zero (roll-over). • Speed data: Data coming from this sensor type can only be delivered to the receiver via one of the communication ports within a UBX-ESF-MEAS (data type 11).
  • Page 28 It is essential that the time tags used for all UBX-ESF-MEAS data have the same resolution. ZED-F9R automatically generates UBX-ESF-MEAS messages containing measurements from the internal IMU using the default time tag resolution of 1 millisecond. If the customer wants to input odometer data with UBX-ESF-MEAS messages, it is essential that the odometer time tag has a resolution of 1 millisecond.

  • Page 29: Hps System Configuration

    IMU. If the customer inputs UBX-ESF-MEAS with odometer data with a different sensor time tag factor than the one used by ZED-F9R for IMU data, it will fail! The same sensor time tag (ttag) factor must be used for all UBX-ESF-MEAS data.

  • Page 30: Operation

    ZED-F9R - Integration manual At higher navigation rates, it is strongly recommended to check (and maybe reduce) the number of enabled output messages. CPU load, memory and interface bandwidth constraints may be a limiting factor. 3.2.7 Operation This section describes how the HPS receiver operates.
  • Page 31 ZED-F9R - Integration manual is flagged as 1:INITIALIZING in the UBX-ESF-STATUS message. Once initialized, the IMU- mount alignment status is flagged as 2:INITIALIZED . If no IMU-mount alignment is required, the IMU-mount alignment is flagged as 0:OFF . A detailed description of the automatic IMU-...
  • Page 32 ZED-F9R - Integration manual 3.2.7.1.4 Directionless odometer mode This feature allows the use of odometer data for which the sign bit or the wheel tick (WT) pin polarity input is not trusted or not available. The directionless odometer support can be enabled by the configuration item...
  • Page 33 ZED-F9R - Integration manual Phase Procedure Indicator of success IMU initialization After receiver cold start or first receiver use, turn IMU initialization status UBX-ESF- on car engine and stay stationary under good GNSS STATUS.imuInitStatus shows signal reception conditions for at least 3 minutes.
  • Page 34 ZED-F9R - Integration manual Phase Procedure Indicator of success Wheel tick sensor Drive for at least 100 meters at a minimum speed Wheel tick sensor initialization status initialization of 10 km/h. UBX-ESF-STATUS.wtInitStatus shows 2:INITIALIZED . INS initialization Drive straight for at least 100 meters at a...
  • Page 35 ZED-F9R - Integration manual • IMU-mount roll/pitch angle initialization ongoing: The alignment engine is initializing the IMU- mount roll and pitch angles ( UBX-ESF-ALG.status is 1). Both angles can only be initialized if vehicle encounters left and right turns (as during a normal drive).
  • Page 36 ZED-F9R - Integration manual • The origin (O) is a point on the Earth's surface; • The x-axis points to north; • The y-axis points to east; • The z-axis completes the right-handed reference system by pointing down. The frame is referred to as North-East-Down (NED) since its axes are aligned with the North, East and down directions.
  • Page 37 ZED-F9R - Integration manual Figure 6: Vehicle attitude output The order of the sequence of rotations around the navigation axes defining the vehicle attitude matrix in terms of vehicle attitude angles is illustrated below: UBX-20039643 - R06 3 Receiver functionality Page 37 of 119  ...
  • Page 38 • Output the ZED-F9R internal IMU measurements; • Input external wheel tick or speed measurements from a host to ZED-F9R. A different number of data fields may be used, and these can contain different types of measurements. The type of each measurement is specified in the UBX-ESF-MEAS.dataType field.

  • Page 39: Priority Navigation Mode

    ZED-F9R - Integration manual Type Description Unit Format of the 24 data bits rear-left wheel ticks Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward) rear-right wheel ticks Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward) single tick (speed tick) Bits 0-22: unsigned tick value.
  • Page 40 ZED-F9R - Integration manual 3.2.8.1 Introduction ZED-F9R provides a low-latency position, velocity, and vehicle attitude solution to be output at a high rate by utilizing sensor-based propagation in between GNSS-measurement updates, thus prioritizing the time-critical data. The receiver issues priority navigation messages first, and non-priority navigation messages when time allows it.

  • Page 41: Wake On Motion Feature

    3.2.9 Wake on motion feature 3.2.9.1 Introduction Supported from firmware version HPS 1.30 onwards and with ZED-F9R-03B modules This feature utilizes the on-board IMU sensor's interrupt pin to wake up the host. The receiver should be in the software backup mode for this feature to work. The software backup mode acts as a sleep mode for the receiver.

  • Page 42: Geofencing

    ZED-F9R - Integration manual With the HPS 1.30 firmware, the wake on motion feature supports the host only option, i.e. CFG-HW-SENS_WOM_MODE should be set to 2. Waking up the receiver is currently not supported 3.2.9.3 Procedure to use the wake on motion feature The following outlines the procedure when using the wake on motion feature: •...

  • Page 43: Interface

    These include results such as position, altitude, velocity, status flags, accuracy estimate figures, satellite/signal information and more. The ZED-F9R can provide this output in two streams: • Primary output: Reports the results of a full navigation solution using all capabilities of the ZED-F9R, •...

  • Page 44: Configuration

    By default, the secondary output is disabled. Note that if you do not follow the next step, there will be no secondary output visible in the ZED-F9R communication interfaces in the form of UBX-NAV2- * messages.

  • Page 45: Expected Output Behavior

    3.4.3 Expected output behavior Once the secondary output is enabled and the desired secondary output UBX-NAV2-* messages are configured, the ZED-F9R will output both primary and secondary output data in the form of the enabled UBX-NAV-* and UBX-NAV2-* messages respectively.

  • Page 46: Protection Level

    ZED-F9R - Integration manual 3.5 Protection level Supported from firmware version HPS 1.30 onwards 3.5.1 Introduction Critical applications need to know how much trust they can place in their GNSS receiver’s output at any given moment. Computed by the GNSS receiver in real-time, the protection level (PL) quantifies the reliability of the position information, to allow systems to change their mode of operation to improve the efficiency and quality of the tasks being performed.
  • Page 47 ZED-F9R - Integration manual Figure 11: Misleading information The output of the protection level is published through the UBX-NAV-PL message. Protection level computing can be disabled through the CFG-NAVSPG-PL_ENA configuration item. See the applicable interface description [2] for availability of the configuration item.

  • Page 48: Expected Behavior

    ZED-F9R - Integration manual Figure 12: Positioning function True position error is generally unknown, unless a very accurate and reliable truth positioning system is reporting an estimate for the true position When the GNSS environment deviates significantly from the normal mode of operation as compared to scenarios where the PL has been validated, a validity flag is set to false to indicate these...

  • Page 49: Communication Interfaces

    NMEA) can be assigned to a single port (multi-protocol capability), which is particularly useful for debugging purposes. The ZED-F9R 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 50: Uart

    The ZED-F9R 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 RTCM interface and cannot be used as a host interface.

  • Page 51: I2C Interface

    ZED-F9R - Integration manual Baud rate Data bits Parity Stop bits 38400 none 57600 none 115200 none 230400 none 460800 none 921600 none Table 22: Possible UART interface configurations The default baud rate is 38400 baud. To prevent buffering problems it is recommended not to run at a lower baud rate than the default.
  • Page 52 ZED-F9R - Integration manual The register at address 0xFF allows the data stream to be read. If there is no data awaiting transmission from the receiver, then this register delivers value 0xFF, which cannot be the first byte of a valid message. If the message data is ready for transmission, the successive reads of register 0xFF will deliver the waiting message data.
  • Page 53 ZED-F9R - 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 54: Spi Interface

    Figure 18: I2C write access 3.6.3 SPI interface ZED-F9R 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. The SPI pins available are: •...

  • Page 55: Usb Interface

    USB host compatibility testing is thus recommended in this scenario. The ZED-F9R 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 56: Predefined Pios

    Table 23: D_SEL configuration 3.7.2 RESET_N The ZED-F9R 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 57: Timepulse

    I/O port. 3.7.4 TIMEPULSE The ZED-F9R high precision sensor fusion 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 58: Wt And Dir Inputs

    3.7.7 WT and DIR inputs ZED-F9R pin 22 (WT) is available as a wheel tick input. Pin 23 (DIR) is available as a direction input (forward/reverse indication). By default the wheel tick count is derived from the rising edges of the WT input.

  • Page 59: Rtk_Stat Interface

    The GEOFENCE_STAT pin is the module pin 19 and it is assigned to PIO12. 3.7.9 RTK_STAT interface The ZED-F9R provides an RTK_STAT pin that provides an indication of the RTK positioning status. It can be used to confirm if a valid stream of correction messages is being received. As valid correction messages we only consider the correction messages that are supported and used by the receiver.

  • Page 60: Antenna Voltage Control - Ant_Off

    ZED-F9R - Integration manual Figure 21: ZED-F9R 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. See Antenna bias section for additional information.

  • Page 61: Antenna Short Detection - Ant_Short_N

    ZED-F9R - Integration manual $GNTXT,01,01,02,ANTSTATUS=OK*25 ANTSUPERV=AC indicates antenna control is activated 3.8.2 Antenna short detection - ANT_SHORT_N Enable antenna short detection setting configuration item CFG-HW- ANT_CFG_SHORTDET to true (1). Result: • UBX-MON-RF in u-center "Message View": Antenna status = OK. Antenna power status = ON •...

  • Page 62: Antenna Open Circuit Detection - Ant_Detect

    ZED-F9R - Integration manual Then if antenna is shorted (ANT_SHORT_N pulled low): • $GNTXT,01,01,02,ANTSTATUS=SHORT*73 • UBX-MON-RF in u-center "Message View": Antenna status = SHORT. Antenna power status = • ANT_OFF = high (to disable - active high) After a time out period receiver will retest the short condition by enabling ANT_OFF = LOW...

  • Page 63: Authorization

    ZED-F9R - Integration manual When a client device makes an AssistNow request, the service responds with the requested data using standard UBX protocol MGA messages. These messages are ready for direct transmission from the client to the receiver port without requiring any modification.

  • Page 64: Advanced Calibration Handling

    ZED-F9R - Integration manual The startup procedure is as follows: • The host powers on the u-blox receiver. • The u-blox receiver detects the previously stored data in the flash. It restores the corresponding memory and reports the success of the operation with a UBX-UPD-SOS-RESTORED message on the port on which it had received the save command message (if the output protocol filter on...

  • Page 65: Clocks And Time

    ZED-F9R - Integration manual Sending only the UBX-MGA-SF message will be rejected by the receiver even if the receiver is in 3D-only mode. Figure 22: Advanced calibration handling operational steps 3.10 Clocks and time This section introduces and explains the concepts of receiver clocks and time bases.

  • Page 66: Navigation Epochs

    ZED-F9R - Integration manual When the receiver first starts, it has no information about how these clock ticks relate to other time systems; it can only count time in 1 millisecond steps. However, as the receiver derives information from the satellites it is tracking or from aiding messages, it estimates the time that each 1-kHz clock tick takes in the time base of the chosen GNSS system.

  • Page 67: Itow Timestamps

    ZED-F9R - Integration manual reporting GNSS system time or receiver local time. It is recommended to use messages that report UTC time and other messages are retained only for backwards compatibility reasons. 3.10.3 iTOW timestamps All the main UBX-NAV messages (and some other messages) contain an iTOW field which indicates the GPS time at which the navigation epoch occurred.

  • Page 68: Utc Representation

    ZED-F9R - Integration manual validity confirmation is only available if the confirmedAvai bit in the UBX-NAV-PVT message is set. validDate means that the receiver has knowledge of the current date. However, it must be noted that this date might be wrong for various reasons. Only when the confirmedDate flag is set, the probability of the incorrect date information drops significantly.

  • Page 69: Real-Time Clock

    ZED-F9R - Integration manual the Sun no longer appears directly overhead at 0 longitude at midday). A "leap second" is therefore announced to bring UTC back into close alignment. This normally involves adding an extra second to the last minute of the year, but it can also happen on 30th June. When this happens UTC clocks are expected to go from 23:59:59 to 23:59:60 and only then on to 00:00:00.

  • Page 70: Time Pulse

    ZED-F9R - Integration manual The following example illustrates how this works: Assume that the reference rollover week number set in the firmware at compile time is 1524 (which corresponds to a week in calendar year 2009, but would be transmitted by the satellites as 500). In this case, if the receiver sees transmissions containing week numbers in the range of 500 ...
  • Page 71 ZED-F9R - Integration manual • The recommended configuration when using the UBX-TIM-TP message is to set both the measurement rate (CFG-RATE-MEAS) and the time pulse frequency (CFG-TP-*) to 1 Hz. Since the rate of UBX-TIM-TP is bound to 1 Hz, more than one UBX-TIM-TP message can appear between two pulses if the time pulse frequency is set larger than 1 Hz.
  • Page 72 3.10.10.4 Time pulse configuration u-blox ZED-F9R receivers provide a time pulse (TIMEPULSE) signal with a configurable pulse period, length and polarity (rising or falling edge). 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.

  • Page 73: Time Mark

    ZED-F9R - Integration manual • grid UTC/GNSS - Selection between UTC (0), GPS (1), GLONASS (2), BeiDou (3) and (4) Galileo timegrid. Also affects the time output by UBX-TIM-TP message. The maximum pulse length cannot exceed the pulse period. Time pulse settings shall be chosen in such a way that neither the high nor the low period of the output is less than 50 ns (except when disabling it completely), otherwise pulses can be lost.

  • Page 74: Security

    Figure 26: Time mark 3.11 Security The security concept of ZED-F9R 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 threats and report it to the host system.

  • Page 75: Spoofing Detection / Monitoring

    Currently, the ZED-F9R only utilizies the wheel tick (odometer input) sensor for the spoofing detection. In conclusion, with ZED-F9R there are two strategies to detect spoofing attempts: purely GNSS for clues to spoofing and sensor data for consistency checks. The alerts for the users to potential spoofing activity is reported in the two messages UBX-SEC-SIG and UBX-SEC-SIGLOG.

  • Page 76: Ubx-Sec-Siglog Message Description

    Table 28: Example of UBX-SEC-SIGLOG Events detected 3.11.5 GNSS receiver integrity 3.11.5.1 Secure boot The ZED-F9R boots only with firmware images that are signed by u-blox. This prevents the execution of non-genuine firmware images run on the receiver. 3.11.5.2 Secure firmware update The firmware image itself is encrypted and signed by u-blox.

  • Page 77: U-Blox Protocol Feature Descriptions

    An example of use case is that the host application locks the receiver configuration. A user communicating with the ZED-F9R through any of the available interfaces can poll, enable or send messages, but cannot change the configuration by sending UBX configuration messages.
  • Page 78 ZED-F9R - Integration manual In most cases, the data does not map perfectly into a number of 32-bit words and, consequently, some of the words reported in UBX-RXM-SFRBX messages contain fields marked as "Pad". These fields should be ignored and no assumption should be made about their contents.
  • Page 79 ZED-F9R - Integration manual Figure 28: GPS L2C subframe words 3.12.1.3 GLONASS For GLONASS L1OF signal, 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, while bits 81 to 84 are a string number and bit 85 is the idle chip, which should always have a value of zero.
  • Page 80 ZED-F9R - 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 81 ZED-F9R - Integration manual 3.12.1.5.1 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 82 ZED-F9R - 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). 3.12.1.5.2 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 83 ZED-F9R - Integration manual 3.12.1.6 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 3.12.1.7 QZSS The structure of the data delivered by QZSS L1C/A signals is effectively identical to that of GPS...

  • Page 84: Forcing A Receiver Reset

    • Controlled GNSS start starts all GNSS tasks. 3.14 Firmware upload ZED-F9R 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 85 ZED-F9R - Integration manual Contact u-blox for more information on firmware update. UBX-20039643 - R06 3 Receiver functionality Page 85 of 119   C1-Public...

  • Page 86: Design

    The pin assignment of the ZED-F9R module is shown in Figure 34. The defined configuration of the PIOs is listed in Table The ZED-F9R is an LGA package with the I/O on the outside edge and central ground pads. Figure 34: ZED-F9R pin assignment Pin no. Name Description...
  • Page 87 ZED-F9R - Integration manual Pin no. Name Description Wake_Up Wake on motion 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 and using corrections, 1 – no...

  • Page 88: Power Supply

    Especially if the RTC and BBR contents are still current, for example, after a short VCC outage. The fusion filter data is also stored in BBR and ZED-F9R can restart in fusion mode.

  • Page 89: Zed-F9R Power Supply

    4.2.3 ZED-F9R power supply The ZED-F9R 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 90: Wt And Dir Interface Example

    ZED-F9R - Integration manual Figure 36: Minimal ZED-F9R design For a minimal design with the ZED-F9R 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 91: Antenna

    Table 31: WT and DIR example 4.5 Antenna The ZED-F9R requires an active antenna with an integrated LNA to ensure good performance under nominal signal reception. When implementing a custom antenna installation, it is recommended that an OEM active antenna module be used that meets our specification.
  • Page 92 ESD circuit protection 15 kV human body model air discharge Table 32: Antenna specifications for ZED-F9R modules Including passive losses (filters, cables, connectors etc.) GNSS system bandwidths: B1I 1559… 1563 MHz; L1,E1,B1C 1573… 1578 MHz; L1OF 1598… 1606 MHz; E5b,B2I 1192…...

  • Page 93: Antenna Bias

    5 to 20 mA to the system's power consumption budget. 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-F9R module matches the antenna working voltage (e.g. 3.0 V).
  • Page 94 ZED-F9R - Integration manual Figure 40: ZED-F9R 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 95: Eos/Esd Precautions

    The supply voltage for the bias-t and its current capability is part of the calculation. Figure 42: ZED-F9R external voltage antenna bias 4.6 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 96: Eos Precautions

    Figure 44: Active antenna EOS protection 4.6.3 Safety precautions The ZED-F9R 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 97: General Notes On Interference Issues

    ZED-F9R - 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 98: Out-Of-Band Interference

    If this is insufficient, an additional SAW filter is required on the GNSS receiver input to block the remaining GSM transmitter energy. 4.8 Layout This section details layout and placement requirements of the ZED-F9R high precision sensor fusion receiver. 4.8.1 Placement GNSS signals at the surface of the Earth are below the thermal noise floor.

  • Page 99: Package Footprint, Copper And Paste Mask

    4.8.3 Package footprint, copper and paste mask Copper and solder mask dimensioning recommendations for the ZED-F9R 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 100: Layout Guidance

    ZED-F9R - Integration manual 4.8.3.2 Paste mask Figure 46: ZED-F9R suggested paste mask 4.8.4 Layout guidance The presented layout guidance reduces the risk of performance issues at design level. 4.8.4.1 RF In trace The RF in trace has to work in the combined GNSS signal bands.
  • Page 101 Figure 48: Top layer fill and vias 4.8.4.3 VCC pads The VCC pads for the ZED-F9R high precision sensor fusion receiver must have as low 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 102: 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-F9R GNSS module with the specification of your power supply.

  • Page 103: Antenna/Rf Input

    ZED-F9R - 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 104: Ground Pads

    Ensure the ground pads of the module are connected to ground. 4.9.6 Schematic design For a minimal design with the ZED-F9R 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 105: Product Handling

    ZED-F9R - Integration manual 5 Product handling 5.1 ESD handling precautions ZED-F9R 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 106 Exceeding the maximum soldering temperature in the recommended soldering profile may permanently damage the module. Figure 50: Soldering profile for professional grade ZED-F9R UBX-20039643 - R06 5 Product handling Page 106 of 119  ...
  • Page 107 ZED-F9R - 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 108: Tapes

    51, with pin 1 location on the bottom of the tape, the feed direction into the pick and place pick-up is from the reel (located on the right of the figure) towards left. The dimensions of the tapes for ZED-F9R are specified in Figure 52 (measurements in mm).

  • Page 109: Reels

    Figure 52: ZED-F9R tape dimensions (mm) 5.4 Reels The ZED-F9R 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-F9R is specified in the table below.

  • Page 110: Appendix

    ZED-F9R - Integration manual Appendix A Glossary Abbreviation Definition Advanced calibration handling ANSI American National Standards Institute Antenna reference point BeiDou Chinese navigation satellite system Battery-backed RAM CDMA Code-division multiple access Configurable reference point High precision sensor fusion Electromagnetic compatibility Electromagnetic interference...

  • Page 111: B Reference Frames

    The ZED-F9R stores the EGM96 geoid model with limited resolution, leading to degraded precision of the reported mean sea level height and geoid separation. If the user application needs higher geoid separation accuracy, it is required to apply its own adjustment to the ellipsoidal height output from the ZED-F9R.
  • Page 112 ZED-F9R - Integration manual Select Group: CFG-UART1, Key name: CFG-UART1-BAUDRATE. See Figure Figure 53: u-center UBX-CFG-VALSET message view Select Add to List, it will appear in the table below. UBX-20039643 - R06 Appendix Page 112 of 119   C1-Public...
  • Page 113 ZED-F9R - Integration manual Select the added key. It will now give the option of setting or reading the current value. See Figure Figure 54: Example u-center UBX-CFG-VALSET message view when selecting a configuration item Add the value, for example, 230400 into the "Value" window that appears below the list. See...
  • Page 114 ZED-F9R - Integration manual 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 55: u-center UBX-CFG-VALSET message view for setting the CFG-UART1-BAUDRATE configuration item that controls the baud rate of UART1 Next, some UBX example messages are configured to enable viewing the receiver status.
  • Page 115 ZED-F9R - Integration manual Click Send. See Figure Figure 56: u-center UBX-CFG-VALSET message view for setting the CFG-MSGOUT-* configuration items for enabling the output of some recommended UBX messages To ensure all the required RTCM messages, including most importantly RTCM 1005, are being received regularly, examine the UBX-RXM-RTCM output in u-center.
  • Page 116 ZED-F9R - Integration manual Once the receiver is receiving a valid set of RTCM messages, it should transition through 3D Fix to 3D/DGNSS to Float and, ultimately, into Fixed mode. See Figure Figure 58: u-center data view with RTK Fixed If using a virtual reference service the receiver must be configured to output NMEA GGA messages to the u-center NTRIP client (UART1 in this example).

  • Page 117: Related Documents

    ZED-F9R - Integration manual Related documents ZED-F9R-01B Data sheet, UBX-19054459 ZED-F9R-02B Data sheet, UBX-21017486 ZED-F9R-03B Data sheet, UBX-XXXXXXXX HPS 1.20 Interface description, UBX-19056845 HPS 1.21 Interface description, UBX-21019746 HPS 1.30 Interface description, UBX-XXXXXXXX Packaging information for u-blox chips, modules, and antennas, UBX-14001652 For regular updates to u-blox documentation and to receive product change notifications...

  • Page 118: Revision History

    11-Nov-2020 ssid Advance information - HPS 1.20 23-Mar-2021 ssid - Early production information for ZED-F9R-01B - Orientation of ZED-F9R on the tape figure updated 15-Jun-2021 ssid - Production information for ZED-F9R-01B 24-Aug-2021 ssid Advance information - ZED-F9R-02B - HPS 1.21...
  • Page 119 ZED-F9R - Integration manual Contact For further support and contact information, visit us at www.u-blox.com/support. UBX-20039643 - R06 Page 119 of 119   C1-Public...

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