u-blox ZED-F9K Data sheet
ZED-F9K
u-blox F9 high precision automotive DR GNSS receiver
Data sheet
Abstract
This data sheet describes the ZED-F9K high precision module with 3D
sensors and a multi-band GNSS receiver. The module provides laneaccurate positioning under the most challenging conditions, decimeterlevel accuracy for automotive mass markets, and it is ideal for ADAS, V2X
and head-up display. It provides a low-risk multi-band RTK turnkey solution
with built-in inertial sensors and lag-free displays with up to 30 Hz real-time
position update rate.
www.u-blox.com
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ZED-F9K-Data sheet
Document information
Title ZED-F9K
Subtitle u-blox F9 high precision automotive DR GNSS receiver
Document type Data sheet
Document number UBX-17061422
Revision and date R05 06-Nov-2020
Document status Early production information
Disclosure restriction C1-Public
Product status Corresponding content status
In development /
prototype
Engineering sample Advance information Data based on early testing. Revised and supplementary data will be
Initial production Early production information Data from product verification. Revised and supplementary data may be
Mass production /
End of life
Objective specification Target values. Revised and supplementary data will be published later.
published later.
published later.
Production information Document contains the final product specification.
This document applies to the following products:
Product name Type number Firmware version PCN reference
ZED-F9K ZED-F9K-00B-01 LAP 1.20 N/A
u-blox reserves all rights to this document and the information contained herein. Products, names, logos and designs
described herein may in whole or in part be subject to intellectual property rights. Reproduction, use, modification or
disclosure to third parties of this document or any part thereof without the express permission of u-blox is strictly prohibited.
The information contained herein is provided "as is" and u-blox assumes no liability for the use of the information. No warranty,
either express or implied, is given with respect to, including but not limited to, the accuracy, correctness, reliability and fitness
for a particular purpose of the information. This document may be revised by u-blox at any time. For most recent documents,
please visit www.u blox.com.
Copyright © 2020, u-blox AG.
u-blox is a registered trademark of u-blox Holding AG in the EU and other countries.
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ZED-F9K-Data sheet
Contents
1 Functional description......................................................................................................... 4
1.1 Overview.................................................................................................................................................... 4
1.2 Performance............................................................................................................................................. 4
1.3 Supported GNSS constellations.......................................................................................................... 6
1.4 Supported GNSS augmentation systems......................................................................................... 6
1.4.1 Quasi-Zenith Satellite System (QZSS)......................................................................................6
1.4.2 Satellite based augmentation system (SBAS)........................................................................ 7
1.4.3 Differential GNSS (DGNSS)..........................................................................................................7
1.5 Broadcast navigation data and satellite signal measurements................................................... 8
1.5.1 Carrier-phase measurements......................................................................................................8
1.6 Supported protocols...............................................................................................................................8
1.7 Automotive dead reckoning..................................................................................................................8
2 System description............................................................................................................ 10
2.1 Block diagram........................................................................................................................................10
3 Pin definition.........................................................................................................................11
3.1 Pin assignment......................................................................................................................................11
4 Electrical specification...................................................................................................... 14
4.1 Absolute maximum ratings................................................................................................................ 14
4.2 Operating conditions............................................................................................................................14
4.3 Indicative power requirements...........................................................................................................15
5 Communications interfaces.............................................................................................16
5.1 UART interface...................................................................................................................................... 16
5.2 SPI interface...........................................................................................................................................16
5.3 Slave I2C interface................................................................................................................................17
5.4 USB interface.........................................................................................................................................19
5.5 WT (wheel tick) and DIR (forward/reverse indication) inputs......................................................19
5.6 Default interface settings...................................................................................................................19
6 Mechanical specification.................................................................................................. 21
7 Reliability tests and approvals....................................................................................... 22
7.1 Approvals................................................................................................................................................22
8 Labeling and ordering information................................................................................ 23
8.1 Product labeling.................................................................................................................................... 23
8.2 Explanation of product codes............................................................................................................ 23
8.3 Ordering codes...................................................................................................................................... 23
Related documents................................................................................................................ 24
Revision history.......................................................................................................................25
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ZED-F9K-Data sheet
1 Functional description
1.1 Overview
The ZED-F9K module features the u-blox F9 multi-band L1/L2 GNSS receiver with rapid
convergence time within seconds. This mass-market component provides decimeter-level
positioning with high availability, while making use of all four GNSS constellations simultaneously.
It is the first dead reckoning module with an integrated Inertial Measurement Unit (IMU) capable
of high precision positioning. The sophisticated built-in algorithms fuse the IMU data, GNSS
measurements, wheel ticks, and vehicle dynamics model to provide lane accurate positioning where
GNSS alone would fail. The module operates under open-sky motorways, in the wooded countryside,
in difficult urban environments, and even in tunnels and underground parking. In modern automotive
applications, such as advanced driver assistance system (ADAS) where availability can improve the
safety of our roads, ZED-F9K is the ultimate solution.
The device is a turnkey solution eliminating the technical risk of integrating third party libraries,
precise positioning engines, and the multi-faceted hardware engineering aspects of radio frequency
design and digital design. The u-blox approach provides a transparent evaluation of the positioning
solution and clear lines of responsibility for design support while reducing supply chain complexity
during production.
ZED-F9K is ideal for innovative automotive architecture designs with limited space and power.
The module provides accurate location services to the increasing number of intelligent electronic
control units (ECU) such as telematics control unit, navigation system, infotainment and V2X safety
systems.
In priority navigation mode the module reaches a navigation rate of up to 30 Hz. The on-board
processor augments fused GNSS position with additional IMU-based position estimates. Drivers
experience responsive, lag-free user interfaces. ZED-F9K can output raw IMU and raw GNSS data
for advanced applications.
ZED-F9K modules are manufactured in ISO/TS 16949 certified sites and are fully tested on a system
level. Qualification tests are performed as stipulated in the ISO 16750 standard: “Road vehicles–
Environmental conditions and testing for electrical and electronic equipment”.
1.2 Performance
Parameter Specification
Receiver type Multi-band high precision DR GNSS receiver
Accuracy of time pulse signal
Frequency of time pulse signal
Operational limits
Position error during GNSS loss
1
2
RMS
99%
Dynamics
Altitude
Velocity
3D Gyro + 3D accelerometer + speed
pulse
30 ns
60 ns
0.25 Hz to 10 MHz
(configurable)
≤ 4 g
80,000 m
500 m/s
2%
1
Assuming airborne 4 g platform, not supported by ADR
2
68% error incurred without GNSS as a percentage of distance of traveled 3000 m, applicable to four-wheel road vehicle
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Parameter Specification
3
Max navigation update rate (RTK)
Priority navigation mode
Non-priority navigation mode
Velocity accuracy
Dynamic attitude accuracy
4
4
Heading
Pitch
Roll
Navigation latency
4
Priority navigation mode 15 ms
Max sensor measurement output rate
ZED-F9K-Data sheet
30 Hz
2 Hz
0.05 m/s
0.2 deg
0.3 deg
0.5 deg
100 Hz
6
GPS+GLO+GAL
+BDS
26 s
2 s
3 s
-160 dBm
-157 dBm
-147 dBm
-158 dBm
0.20 m
0.20 m
0.30 m
0.30 m
GPS+GLO+GAL GPS+GAL GPS+GLO BDS+GLO
25 s
2 s
3 s
-160 dBm
-157 dBm
-147 dBm
-158 dBm
0.20 m
0.20 m
0.30 m
0.30 m
30 s
2 s
3 s
-160 dBm
-157 dBm
-147 dBm
-158 dBm
0.25 m
0.25 m
0.40 m
0.40 m
25 s
2 s
3 s
-160 dBm
-157 dBm
-147 dBm
-158 dBm
0.25 m
0.25 m
0.40 m
0.40 m
28 s
2 s
3 s
-160 dBm
-157 dBm
-145 dBm
-158 dBm
0.60 m
0.60 m
0.85 m
1.00 m
GNSS
Acquisition
5
Re-convergence time
7 8
Sensitivity 9
10
Position accuracy
11
RTK7
Cold start
Hot start
Aided starts
RTK ≤ 10 s ≤ 10 s ≤ 10 s ≤ 10 s ≤ 30 s
Tracking and nav.
Reacquisition
Cold start
Hot start
Along track
Cross track
2D CEP
Vertical
Table 1: ZED-F9K performance in different GNSS modes
GNSS GPS GLONASS BEIDOU GALILEO
Acquisition
Sensitivity 9
5
10
Position accuracy RTK
Cold start
Hot start
Aided start
Tracking and nav.
Reacquisition
Cold start
Hot start
11
2D CEP
Vertical
30 s
2 s
6
3 s
-158 dBm
-157 dBm
-147 dBm
-158 dBm
0.80 m
1.00 m
28 s
2 s
3 s
-158 dBm
-155 dBm
-147 dBm
-157 dBm
1.00 m
1.50 m
40 s
2 s
3 s
-158 dBm
-157 dBm
-141 dBm
-158 dBm
-
-
-
-
-
-156 dBm
-153 dBm
-137 dBm
-155 dBm
1.50 m
2.00 m
Table 2: ZED-F9K performance in single-GNSS modes
3
Rates with SBAS and QZSS enabled for > 98% fix report rate under typical conditions
4
68% at 30 m/s for dynamic operation
5
All satellites at -130 dBm
6
Dependent on the speed and latency of the aiding data connection, commanded starts
7
68% depending on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and
geometry
8
Time to ambiguity fix after 20 s outage
9
Demonstrated with a good external LNA
10
Configured min C/N0 of 6 dB/Hz, limited by FW with min C/N0 of 20 dB/Hz for best performance
11
Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna
phase center offset errors.
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ZED-F9K-Data sheet
1.3 Supported GNSS constellations
The ZED-F9K GNSS modules are concurrent GNSS receivers that can receive and track multiple
GNSS constellations. Owing to the multi-band RF front-end architecture, all four major GNSS
constellations (GPS, GLONASS, Galileo and BeiDou) plus SBAS and QZSS satellites can be received
concurrently. All satellites in view can be processed to provide an RTK navigation solution when used
with correction data. If power consumption is a key factor, the receiver can be configured for a subset
of GNSS constellations.
All satellites in view can be processed to provide an RTK navigation solution when used with
correction data; the highest positioning accuracy will be achieved when the receiver is tracking
signals on both bands from multiple satellites, and is provided with corresponding correction data.
The QZSS system shares the same frequency bands as GPS and can only be processed in
conjunction with GPS.
To take advantage of multi-band signal reception, dedicated hardware preparation must be
made during the design-in phase. See the ZED-F9K Integration manual [1] for u-blox design
recommendations.
The ZED-F9K supports the GNSS and their signals as shown in Table 3.
GPS GLONASS Galileo
L1C/A (1575.42 MHz) L1OF (1602 MHz + k*562.5
kHz, k = –7,..., 5, 6)
L2C (1227.600 MHz) L2OF (1246 MHz + k*437.5
kHz, k = –7,..., 5, 6)
Table 3: Supported GNSS and signals on ZED-F9K
E1-B/C (1575.420 MHz) B1I (1561.098 MHz)
E5b (1207.140 MHz) B2I (1207.140 MHz)
BeiDou
The following GNSS assistance services can be activated on ZED-F9K:
AssistNow™ Online AssistNow™ Offline AssistNow™ Autonomous
Supported - -
Table 4: Supported Assisted GNSS (A-GNSS) services
ZED-F9K supports the following augmentation systems:
SBAS QZSS IMES
EGNOS, GAGAN, WAAS and MSAS supported Supported Not supported
Table 5: Supported augmentation systems of ZED-F9K
Differential GNSS
RTCM 3.3
The augmentation systems SBAS and QZSS can be enabled only if GPS operation is also
enabled.
1.4 Supported GNSS augmentation systems
1.4.1 Quasi-Zenith Satellite System (QZSS)
The Quasi-Zenith Satellite System (QZSS) is a regional navigation satellite system that provides
positioning services for the Pacific region covering Japan and Australia. The ZED-F9K high precision
receiver is able to receive and track QZSS signal concurrently with GPS signals, resulting in better
availability especially under challenging signal conditions, e.g. in urban canyons.
The ZED-F9K is also able to receive the QZSS L1S signal in order to use the SLAS (Sub-meter
Level Augmentation Service) which is an augmentation technology that provides correction data for
pseudoranges. Ground monitoring stations positioned in Japan calculate independent corrections
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ZED-F9K-Data sheet
for each visible satellite and broadcast this data to the user via QZSS satellites. The correction
stream is transmitted on the L1 frequency (1575.42 MHz).
QZSS can be enabled only if GPS operation is also configured.
1.4.2 Satellite based augmentation system (SBAS)
The ZED-F9K high precision receiver optionally supports SBAS (including WAAS in the US, EGNOS in
Europe, MSAS in Japan and GAGAN in India) to deliver improved location accuracy within the regions
covered. However, the additional inter-standard time calibration step used during SBAS reception
results in degraded time accuracy overall.
SBAS reception is enabled by default in ZED-F9K.
1.4.3 Differential GNSS (DGNSS)
When operating in RTK mode, RTCM version 3.3 messages are required and the module supports
DGNSS according to RTCM 10403.3. ZED-F9K can decode the following RTCM 3.3 messages:
Message type Description
RTCM 1001 L1-only GPS RTK observables
RTCM 1002 Extended L1-only GPS RTK observables
RTCM 1003 L1/L2 GPS RTK observables
RTCM 1004 Extended L1/L2 GPS RTK observables
RTCM 1005 Stationary RTK reference station ARP
RTCM 1006 Stationary RTK reference station ARP with antenna height
RTCM 1007 Antenna descriptor
RTCM 1009 L1-only GLONASS RTK observables
RTCM 1010 Extended L1-only GLONASS RTK observables
RTCM 1011 L1/L2 GLONASS RTK observables
RTCM 1012 Extended L1/L2 GLONASS RTK observables
RTCM 1033 Receiver and antenna description
RTCM 1074 GPS MSM4
RTCM 1075 GPS MSM5
RTCM 1077 GPS MSM7
RTCM 1084 GLONASS MSM4
RTCM 1085 GLONASS MSM5
RTCM 1087 GLONASS MSM7
RTCM 1094 Galileo MSM4
RTCM 1095 Galileo MSM5
RTCM 1097 Galileo MSM7
RTCM 1124 BeiDou MSM4
RTCM 1125 BeiDou MSM5
RTCM 1127 BeiDou MSM7
RTCM 1230 GLONASS code-phase biases
Table 6: Supported input RTCM 3.3 messages
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ZED-F9K-Data sheet
1.5 Broadcast navigation data and satellite signal measurements
The ZED-F9K can output all the GNSS broadcast data upon reception from tracked satellites. This
includes all the supported GNSS signals plus the augmentation service QZSS. The UBX-RXM-SFRBX
message contains this information. The receiver also makes available the tracked satellite signal
information, i.e. raw code phase and Doppler measurements, in a form aligned to the Radio Resource
LCS Protocol (RRLP) [3]. For the UBX-RXM-SFRBX message specification, see the u-blox ZED-F9K
Interface description [2].
1.5.1 Carrier-phase measurements
The ZED-F9K modules provide raw carrier-phase data for all supported signals, along with
pseudorange, Doppler and measurement quality information. The data contained in the UBX-RXMRAWX message follows the conventions of a multi-GNSS RINEX 3 observation file. For the UBXRXM-RAWX message specification, see the u-blox ZED-F9K Interface description [2].
Raw measurement data are available once the receiver has established data bit
synchronization and time-of-week.
Only available with an optional license for an additional cost.
1.6 Supported protocols
The ZED-F9K supports the following protocols:
Protocol Type
UBX Input/output, binary, u-blox proprietary
NMEA up to 4.11 Input/output, ASCII
RTCM 3.3 Input, binary
Table 7: Supported protocols
For specification of the protocols, see the u-blox ZED-F9K Interface description [2].
1.7 Automotive dead reckoning
u-blox’s proprietary automotive dead reckoning (ADR) solution uses a 3D inertial measurement
unit (IMU) included within the module, and speed pulses from the vehicle’s wheel tick (WT) sensor.
Alternatively, the vehicle speed data can be provided as messages via a serial interface. Sensor
data and GNSS signals are processed together, achieving 100% coverage, with highly accurate and
continuous positioning even in GNSS-hostile environments (for example, urban canyons) or in case
of GNSS signal absence (for example, tunnels and parking garages).
WT or speed sensor rate variations and the 3D IMU sensors are calibrated automatically and
continuously by the module, accommodating automatically to, for example, vehicle tire wear.
For more details, see the ZED-F9K Integration manual [1].
The ZED-F9K combines GNSS and dead reckoning measurements and computes a position solution
at rates of up to 2 Hz with non-priority navigation mode. In priority navigation mode the navigation
rate can be increased using IMU-only data to deliver accurate, low-latency position measurements
at rates up to 30 Hz. These solutions are reported in standard NMEA, UBX-NAV-PVT and similar
messages.
The ZED-F9K will work optimally in priority navigation mode when the IMU and WT sensors
are calibrated, and the alignment angles are correct.
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