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

UBX-17061422 - R05 C1-Public

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.

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.

u-blox is a registered trademark of u-blox Holding AG in the EU and other countries.

UBX-17061422 - R05 C1-Public Early production information



Page 2 of 26

ZED-F9K-Data sheet

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

UBX-17061422 - R05 C1-Public Early production information



Contents Page 3 of 26

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

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

Assuming airborne 4 g platform, not supported by ADR

68% error incurred without GNSS as a percentage of distance of traveled 3000 m, applicable to four-wheel road vehicle

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 4 of 26

Parameter Speciﬁcation

Max navigation update rate (RTK)

Priority navigation mode Non-priority navigation mode

Velocity accuracy

Dynamic attitude accuracy

Heading Pitch Roll

Navigation latency

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

GPS+GLO+GAL +BDS

26 s 2 s 3 s

-160 dBm

-157 dBm

-147 dBm

-158 dBm

0.20 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

0.30 m

30 s 2 s 3 s

-160 dBm

-157 dBm

-147 dBm

-158 dBm

0.25 m

0.40 m

25 s 2 s 3 s

-160 dBm

-157 dBm

-147 dBm

-158 dBm

0.25 m

0.40 m

28 s 2 s 3 s

-160 dBm

-157 dBm

-145 dBm

-158 dBm

0.60 m

0.85 m

1.00 m

GNSS

Acquisition

Re-convergence time

7 8

Sensitivity 9

Position accuracy

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

Position accuracy RTK

Cold start Hot start

Aided start

Tracking and nav. Reacquisition Cold start Hot start

2D CEP Vertical

30 s 2 s

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

Rates with SBAS and QZSS enabled for > 98% ﬁx report rate under typical conditions

68% at 30 m/s for dynamic operation

All satellites at -130 dBm

Dependent on the speed and latency of the aiding data connection, commanded starts

68% depending on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry

Time to ambiguity ﬁx after 20 s outage

Demonstrated with a good external LNA

Conﬁgured min C/N0 of 6 dB/Hz, limited by FW with min C/N0 of 20 dB/Hz for best performance

Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center oﬀset errors.

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 5 of 26

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

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 6 of 26

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

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 7 of 26

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.

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 8 of 26

ZED-F9K-Data sheet

Dead reckoning allows navigation to commence as soon as power is applied to the module (that is, before a GNSS ﬁx has been established) under the following conditions:

• The vehicle has not been moved while the module has been switched oﬀ.

• At least a dead reckoning ﬁx was available when the vehicle was last used.

• A back-up supply has been available for the module since the vehicle was last used.

The save-on-shutdown feature can be used when no backup supply is available. All information necessary will be saved to the ﬂash and read from the ﬂash upon restart.

UBX-17061422 - R05 C1-Public Early production information



1 Functional description Page 9 of 26

2 System description

2.1 Block diagram

ZED-F9K-Data sheet

Figure 1: ZED-F9K block diagram

UBX-17061422 - R05 C1-Public Early production information



2 System description Page 10 of 26

ZED-F9K-Data sheet

3 Pin deﬁnition

3.1 Pin assignment

The pin assignment of the ZED-F9K module is shown in Figure 2. The deﬁned conﬁguration of the PIOs is listed in Table 8.

The ZED-F9K is an LGA package with the I/O on the outside edge and central ground pads.

Figure 2: ZED-F9K pin assignment

Pin no. Name I/O Description

1 GND - Ground

2 RF_IN I RF input

3 GND - Ground

4 ANT_DETECT I Active antenna detect

5 ANT_OFF O External LNA disable

6 ANT_SHORT_N I Active antenna short detect

7 VCC_RF O Voltage for external LNA

8 Reserved - Reserved

9 Reserved - Reserved

10 Reserved - Reserved

11 Reserved - Reserved

UBX-17061422 - R05 C1-Public Early production information



3 Pin deﬁnition Page 11 of 26

ZED-F9K-Data sheet

Pin no. Name I/O Description

12 GND - Ground

13 Reserved - Reserved

14 GND - Ground

15 Reserved - Reserved

16 Reserved - Reserved

17 Reserved - Reserved

18 Reserved - Reserved

19 GEOFENCE_STAT O Geofence status, user deﬁned

20 RTK_STAT O RTK status 0 – ﬁxed, blinking – receiving and using corrections, 1 – no

21 Reserved - Reserved

22 WT I Wheel ticks

23 DIR I Direction

24 Reserved - Reserved

25 Reserved - Reserved

26 RXD2 I Correction UART input

27 TXD2 O Correction UART output

28 Reserved - Reserved

29 Reserved - Reserved

30 Reserved - Reserved

31 Reserved - Reserved

32 GND - Ground

33 VCC I Voltage supply

34 VCC I Voltage supply

35 Reserved - Reserved

36 V_BCKP I Backup supply voltage

37 GND - Ground

38 V_USB I USB power input

39 USB_DM I/O USB data

40 USB_DP I/O USB data

41 GND - Ground

42 TXD / SPI_MISO O Serial port if D_SEL =1(or open). SPI MISO if D_SEL = 0

43 RXD / SPI_MOSI I Serial port if D_SEL =1(or open). SPI MOSI if D_SEL = 0

44 SDA / SPI_CS_N I/O I2C data if D_SEL =1 (or open). SPI chip select if D_SEL = 0

45 SCL / SPI_CLK I/O I2C Clock if D_SEL =1(or open). SPI clock if D_SEL = 0

46 TX_READY O TX_Buﬀer full and ready for TX of data

47 D_SEL I Interface select

48 GND - Ground

49 RESET_N I RESET_N

50 SAFEBOOT_N I SAFEBOOT_N (for future service, updates and reconﬁguration, leave OPEN)

51 EXT_INT I External interrupt pin

52 Reserved - Reserved

53 TIMEPULSE O Time pulse

corrections

UBX-17061422 - R05 C1-Public Early production information



3 Pin deﬁnition Page 12 of 26

Pin no. Name I/O Description

54 Reserved - Reserved

Table 8: ZED-F9K pin assigment

ZED-F9K-Data sheet

UBX-17061422 - R05 C1-Public Early production information



3 Pin deﬁnition Page 13 of 26

ZED-F9K-Data sheet

4 Electrical speciﬁcation

The limiting values given are in accordance with the Absolute Maximum Rating System (IEC 134). Stress above one or more of the limiting values may cause permanent damage to the device. These are stress ratings only. Operation of the device at these or at any other conditions above those given below is not implied. Exposure to limiting values for extended periods may aﬀect device reliability.

Where application information is given, it is advisory only and does not form part of the speciﬁcation.

4.1 Absolute maximum ratings

Parameter Symbol Condition Min Max Units

Power supply voltage VCC -0.5 3.6 V

Backup battery voltage V_BCKP -0.5 3.6 V

Input pin voltage Vin VCC ≤ 3.1 V -0.5 VCC + 0.5 V

VCC > 3.1 V -0.5 3.6 V

DC current through any digital I/O pin (except supplies)

VCC_RF output current ICC_RF 100 mA

Supply voltage USB V_USB –0.5 3.6 V

USB signals USB_DM,

Input power at RF_IN Prﬁn source impedance =

Storage temperature Tstg -40 +85 °C

Table 9: Absolute maximum ratings

Ipin TBD mA

-0.5 V_USB + 0.5 V

USB_DP

10 dBm

50Ω, continuous wave

The product is not protected against overvoltage or reversed voltages. Voltage spikes exceeding the power supply voltage speciﬁcation, given in the table above, must be limited to values within the speciﬁed boundaries by using appropriate protection diodes.

4.2 Operating conditions

All speciﬁcations are at an ambient temperature of 25 °C. Extreme operating temperatures can signiﬁcantly impact the speciﬁcation values. Applications operating near the temperature limits should be tested to ensure the speciﬁcation.

Parameter Symbol Min Typical Max Units Condition

Power supply voltage VCC 2.7 3.0 3.6 V

Backup battery voltage V_BCKP 1.65 3.6 V

Backup battery current I_BCKP 36 µA V_BCKP = 3 V,

SW backup current I_SWBCKP 1.5 mA

Input pin voltage range Vin 0 VCC V

Digital IO pin low level input voltage Vil 0.4 V

Digital IO pin high level input voltage Vih 0.8 * VCC V

Digital IO pin low level output voltage Vol 0.4 V Iol = 2 mA

Digital IO pin high level output voltage Voh VCC – 0.4 V Ioh = 2 mA

VCC_RF voltage VCC_RF VCC - 0.1 V

VCC = 0 V

UBX-17061422 - R05 C1-Public Early production information



4 Electrical speciﬁcation Page 14 of 26

ZED-F9K-Data sheet

Parameter Symbol Min Typical Max Units Condition

VCC_RF output current ICC_RF 50 mA

Receiver chain noise ﬁgure

External gain (at RF_IN) Ext_gain 17 50 dB

Operating temperature Topr -40 +25 85 °C

Table 10: Operating conditions

NFtot 9.5 dB

Operation beyond the speciﬁed operating conditions can aﬀect device reliability.

4.3 Indicative power requirements

Table 11 lists examples of the total system supply current including RF and baseband section for

a possible application.

Values in Table 11 are provided for customer information only, as an example of typical current requirements. The values are characterized on samples by using a cold start command. Actual power requirements can vary depending on FW version used, external circuitry, number of satellites tracked, signal strength, type and time of start, duration, and conditions of test.

Symbol Parameter Conditions GPS+GLO

PEAK

VCC

supply

Table 11: Currents to calculate the indicative power requirements

Peak current Acquisition 130 120 mA

VCC current Acquisition 90 75 mA

Supply current Tracking 85 68 mA

+GAL+BDS

All values in Table 11 are measured at 25 °C ambient temperature.

GPS Unit

Only valid for the GPS

Simulated GNSS signal

UBX-17061422 - R05 C1-Public Early production information



4 Electrical speciﬁcation Page 15 of 26

ZED-F9K-Data sheet

5 Communications interfaces

There are several communications interfaces including UART, SPI, I2C14 and USB.

All the inputs have internal pull-up resistors in normal operation and can be left open if not used. All the PIOs are supplied by VCC, therefore all the voltage levels of the PIO pins are related to VCC supply voltage.

5.1 UART interface

The UART interfaces support conﬁgurable baud rates. See the ZED-F9K Integration manual [1].

Hardware ﬂow control is not supported.

UART1 is the primary host communications interface while UART2 is dedicated for RTCM 3.3 corrections and NMEA. No UBX protocol is supported on UART 2.

The UART1 is enabled if D_SEL pin of the module is left open or "high".

Symbol Parameter Min Max Unit

Table 12: ZED-F9K UART speciﬁcations

Baud rate 9600 921600 bit/s

Tx baudrate accuracy -1% +1% -

Rx baudrate tolerance -2.5% +2.5% -

5.2 SPI interface

The ZED-F9K has an SPI slave interface that can be selected by setting D_SEL = 0. The SPI slave interface is shared with UART1 and I2C pins. The SPI pins available are:

• SPI_MISO (TXD)

• SPI_MOSI (RXD)

• SPI_CS_N

• SPI_CLK

The SPI interface is designed to allow communication to a host CPU. The interface can be operated in slave mode only. Note that SPI is not available in the default conﬁguration because its pins are shared with the UART and I2C interfaces. The maximum transfer rate using SPI is 125 kB/s and the maximum SPI clock frequency is 5.5 MHz.

This section provides SPI timing values for the ZED-F9K slave operation. The following tables present timing values under diﬀerent capacitive loading conditions. Default SPI conﬁguration is CPOL = 0 and CPHA = 0.

I2C is a registered trademark of Philips/NXP

UBX-17061422 - R05 C1-Public Early production information

5 Communications interfaces Page 16 of 26



ZED-F9K-Data sheet

Figure 3: ZED-F9K high precision receiver SPI speciﬁcation mode 1: CPHA=0 SCK = 5.33 MHz

Timings 1 - 12 are not speciﬁed here as they are dependent on the SPI master. Timings A - E are speciﬁed for SPI slave.

Timing value at 2 pF load Min (ns) Max (ns)

"A" - MISO data valid time (CS) 14 38

"B" - MISO data valid time (SCK) weak driver mode 21 38

"C" - MISO data hold time 114 130

"D" - MISO rise/fall time, weak driver mode 1 4

"E" - MISO data disable lag time 20 32

Table 13: ZED-F9K SPI timings at 2 pF load

Timing value at 20 pF load Min (ns) Max (ns)

"A" - MISO data valid time (CS) 19 52

"B" - MISO data valid time (SCK) weak driver mode 25 51

"C" - MISO data hold time 117 137

"D" - MISO rise/fall time, weak driver mode 6 16

"E" - MISO data disable lag time 20 32

Table 14: ZED-F9K SPI timings at 20 pF load

Timing value at 60 pF load Min (ns) Max (ns)

"A" - MISO data valid time (CS) 29 79

"B" - MISO data valid time (SCK) weak driver mode 35 78

"C" - MISO data hold time 122 152

"D" - MISO rise/fall time, weak driver mode 15 41

"E" - MISO data disable lag time 20 32

Table 15: ZED-F9K SPI timings at 60 pF load

5.3 Slave I2C interface

An I2C-compliant interface is available for communication with an external host CPU. The interface can be operated in slave mode only. It is fully compatible with the I2C industry standard fast mode.

UBX-17061422 - R05 C1-Public Early production information

5 Communications interfaces Page 17 of 26



ZED-F9K-Data sheet

Since the maximum SCL clock frequency is 400 kHz, the maximum bit rate is 400 kbit/s. The interface stretches the clock when slowed down while serving interrupts, therefore the real bit rates may be slightly lower.

The I2C interface is only available with the UART default mode. If the SPI interface is selected by using D_SEL = 0, the I2C interface is not available.

Figure 4: ZED-F9K high precision receiver I2C slave speciﬁcation

Symbol Parameter Min (Standard /

Fast mode)

SCL

HD;STA

LOW

HIGH

SU;STA

HD;DAT

SU;DAT

SU;STO

BUF

SCL clock frequency 0 400 kHz

Hold time (repeated) START condition 4.0/1 - µs

Low period of the SCL clock 5/2 - µs

High period of the SCL clock 4.0/1 - µs

Set-up time for a repeated START condition 5/1 - µs

Data hold time 0/0 - µs

Data set-up time 250/100 ns

Rise time of both SDA and SCL signals - 1000/300 (for C = 400pF) ns

Fall time of both SDA and SCL signals - 300/300 (for C = 400pF) ns

Set-up time for STOP condition 4.0/1 - µs

Bus-free time between a STOP and START

5/2 - µs

condition

VD;DAT

VD;ACK

Data valid time - 4/1 µs

Data valid acknowledge time - 4/1 µs

Noise margin at the low level 0.1 VCC - V

Noise margin at the high level 0.2 VCC - V

Table 16: ZED-F9K I2C slave timings and speciﬁcations

Max Unit

UBX-17061422 - R05 C1-Public Early production information

5 Communications interfaces Page 18 of 26



ZED-F9K-Data sheet

5.4 USB interface

The USB 2.0 FS (Full speed, 12 Mbit/s) interface can be used for host communication. Due to the hardware implementation, it may not be possible to certify the USB interface. The V_USB pin supplies the USB interface.

5.5 WT (wheel tick) and DIR (forward/reverse indication) inputs

ZED-F9K pin 22 (WT) is available as a wheel tick input. The 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.

For optimal performance the wheel tick resolution should be less than 5 cm.

The DIR input shall indicate whether the vehicle is moving forwards or backwards.

Alternatively, the vehicle WT (or speed) and DIR inputs can be provided via one of the communication interfaces with UBX-ESF-MEAS messages.

For more details, see the ZED-F9K Integration manual [1].

5.6 Default interface settings

Interface Settings

UART1 output

UART1 input

UART2 output

UART2 input

USB Default messages activated as in UART1. Input/output protocols available as in UART1.

I2C

SPI Allow communication to a host CPU, operated in slave mode only. Default messages activated as

Table 17: Default interface settings

38400 baud, 8 bits, no parity bit, 1 stop bit. NMEA protocol is enabled by default and GGA, GLL, GSA, GSV, RMC, VTG, TXT messages are

output by default. UBX protocol is enabled by default but no output messages are enabled by default. RTCM 3.3 protocol output is not supported.

38400 baud, 8 bits, no parity bit, 1 stop bit. UBX, NMEA and RTCM 3.3 input protocols are enabled by default.

38400 baud, 8 bits, no parity bit, 1 stop bit. UBX protocol cannot be enabled. RTCM 3.3 protocol output is not supported. NMEA protocol is disabled by default.

38400 baud, 8 bits, no parity bit, 1 stop bit. UBX protocol cannot be enabled and will not receive UBX input messages. RTCM 3.3 protocol is enabled by default. NMEA protocol is disabled by default.

Fully compatible with the I2C15 industry standard, available for communication with an external host CPU or u-blox cellular modules, operated in slave mode only. Default messages activated as in UART1. Input/output protocols available as in UART1. Maximum bit rate 400 kb/s.

in UART1. Input/output protocols available as in UART1. SPI is not available unless D_SEL pin is set to low (see section D_SEL interface in ZED-F9K Integration manual [1]).

UART2 can be conﬁgured as an RTCM interface. RTCM 3.3 is the default input protocol. UART2 may also be conﬁgured for NMEA output. NMEA GGA output is typically used with virtual reference service correction services.

I2C is a registered trademark of Philips/NXP

UBX-17061422 - R05 C1-Public Early production information

5 Communications interfaces Page 19 of 26



ZED-F9K-Data sheet

By default the ZED-F9K outputs NMEA messages that include satellite data for all GNSS bands being received. This results in a high NMEA load output for each navigation period. Make sure the UART baud rate used is suﬃcient for the selected navigation rate and the number of GNSS signals being received.

UBX-17061422 - R05 C1-Public Early production information

5 Communications interfaces Page 20 of 26



6 Mechanical speciﬁcation

ZED-F9K-Data sheet

Figure 5: ZED-F9K mechanical drawing

UBX-17061422 - R05 C1-Public Early production information



6 Mechanical speciﬁcation Page 21 of 26

ZED-F9K-Data sheet

7 Reliability tests and approvals

ZED-F9K modules are based on AEC-Q100 qualiﬁed GNSS chips.

Tests for product family qualiﬁcations are according to ISO 16750 "Road vehicles – environmental conditions and testing for electrical and electronic equipment”, and appropriate standards.

7.1 Approvals

The ZED-F9K is designed to in compliance with the essential requirements and other relevant provisions of Radio Equipment Directive (RED) 2014/53/EU.

The ZED-F9K complies with the Directive 2011/65/EU (EU RoHS 2) and its amendment Directive (EU) 2015/863 (EU RoHS 3).

Declaration of Conformity (DoC) is available on the u-blox website.

UBX-17061422 - R05 C1-Public Early production information

7 Reliability tests and approvals Page 22 of 26



ZED-F9K-Data sheet

8 Labeling and ordering information

This section provides information about product labeling and ordering. For information about product handling and soldering see the ZED-F9K Integration manual [1].

8.1 Product labeling

The labeling of the ZED-F9K modules provides product information and revision information. For more information contact u-blox sales.

8.2 Explanation of product codes

Three product code formats are used. The Product name is used in documentation such as this data sheet and identiﬁes all u-blox products, independent of packaging and quality grade. The Ordering code includes options and quality, while the Type number includes the hardware and ﬁrmware versions.

The Table 18 below details these three formats.

Format Structure Product code

Product name PPP-TGV ZED-F9K

Ordering code PPP-TGV-NNQ ZED-F9K-00B

Type number PPP-TGV-NNQ-XX ZED-F9K-00B-01

Table 18: Product code formats

The parts of the product code are explained in Table 19.

Code Meaning Example

PPP Product family ZED

TG Platform F9 = u-blox F9

V Variant K = High precision + ADR

NNQ Option / Quality grade

XX Product detail Describes hardware and ﬁrmware versions

Table 19: Part identiﬁcation code

NN: Option [00...99] Q: Grade, A = Automotive, B = Professional

8.3 Ordering codes

Ordering code Product Remark

ZED-F9K-00B u-blox ZED-F9K

Table 20: Product ordering codes

Product changes aﬀecting form, ﬁt or function are documented by u-blox. For a list of Product Change Notiﬁcations (PCNs) see our website at: https://www.u-blox.com/en/

product-resources.

UBX-17061422 - R05 C1-Public Early production information

8 Labeling and ordering information Page 23 of 26



ZED-F9K-Data sheet

Revision history

Revision Date Name Status / comments

R01 19-Feb-2019 ssid Objective speciﬁcation

R02 24-Sep-2019 ssid Advance information

Priority/non-priority navigation mode

R03 15-Jan-2020 ssid Early production information - optional license information for carrier-

R04 10-Sep-2020 ssid

R05 06-Nov-2020 ssid Early production information - ZED-F9K-00B-01 - Public

phase measurements, aided starts performance numbers revised

Advance information - LAP 1.20 update - ZED-F9K-00B-01 update

- Added ZED-F9K performance in diﬀerent single GNSS modes

- Performance in diﬀerent GNSS modes revised

- SBAS support added

- Communication interfaces section updated

- Re-convergence time performance numbers revised

UBX-17061422 - R05 C1-Public Early production information



Revision history Page 25 of 26

ZED-F9K-Data sheet

Contact

For complete contact information visit us at www.u-blox.com.

u-blox Oﬃces

North, Central and South America Headquarters Asia, Australia, Paciﬁc



u-blox America, Inc. u-blox AG u-blox Singapore Pte. Ltd.

Phone: +1 703 483 3180 Phone: +41 44 722 74 44 Phone: +65 6734 3811 E-mail: info_us@u-blox.com E-mail: info@u-blox.com E-mail: info_ap@u-blox.com   Support: support@u-blox.com Support: support_ap@u-blox.com

Regional Oﬃce West Coast  Regional Oﬃce Australia

Phone: +1 408 573 3640   Phone: +61 2 8448 2016 E-mail: info_us@u-blox.com   E-mail: info_anz@u-blox.com     Support: support_ap@u-blox.com

Technical Support  Regional Oﬃce China (Beijing)

Phone: +1 703 483 3185   Phone: +86 10 68 133 545 E-mail: support_us@u-blox.com   E-mail: info_cn@u-blox.com     Support: support_cn@u-blox.com

  Regional Oﬃce China (Chongqing)

    Phone: +86 23 6815 1588     E-mail: info_cn@u-blox.com     Support: support_cn@u-blox.com

  Regional Oﬃce China (Shanghai)

    Phone: +86 21 6090 4832     E-mail: info_cn@u-blox.com     Support: support_cn@u-blox.com

  Regional Oﬃce China (Shenzhen)

    Phone: +86 755 8627 1083     E-mail: info_cn@u-blox.com     Support: support_cn@u-blox.com

  Regional Oﬃce India

    Phone: +91 80 4050 9200     E-mail: info_in@u-blox.com     Support: support_in@u-blox.com

  Regional Oﬃce Japan (Osaka)

    Phone: +81 6 6941 3660     E-mail: info_jp@u-blox.com     Support: support_jp@u-blox.com

  Regional Oﬃce Japan (Tokyo)

    Phone: +81 3 5775 3850     E-mail: info_jp@u-blox.com     Support: support_jp@u-blox.com

  Regional Oﬃce Korea

    Phone: +82 2 542 0861     E-mail: info_kr@u-blox.com     Support: support_kr@u-blox.com

  Regional Oﬃce Taiwan

    Phone: +886 2 2657 1090     E-mail: info_tw@u-blox.com     Support: support_tw@u-blox.com

Europe, Middle East, Africa

UBX-17061422 - R05 C1-Public Early production information



Page 26 of 26

u-blox ZED-F9K Data sheet

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 Functional description

1.1 Overview

1.2 Performance

1.3 Supported GNSS constellations

1.4 Supported GNSS augmentation systems

1.4.1 Quasi-Zenith Satellite System (QZSS)

1.4.2 Satellite based augmentation system (SBAS)

1.5 Broadcast navigation data and satellite signal measurements

1.5.1 Carrier-phase measurements

1.6 Supported protocols

1.7 Automotive dead reckoning

2 System description

2.1 Block diagram

3.1 Pin assignment

4.1 Absolute maximum ratings

4.2 Operating conditions

4.3 Indicative power requirements

5 Communications interfaces

5.1 UART interface

5.2 SPI interface

5.3 Slave I2C interface

5.4 USB interface

5.5 WT (wheel tick) and DIR (forward/reverse indication) inputs

5.6 Default interface settings

7 Reliability tests and approvals

7.1 Approvals

8 Labeling and ordering information

8.1 Product labeling

8.2 Explanation of product codes

8.3 Ordering codes

Related documents

Revision history

Contact