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.
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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.
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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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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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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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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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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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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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.
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2 System description

2.1 Block diagram

ZED-F9K-Data sheet
Figure 1: ZED-F9K block diagram
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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
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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
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Pin no. Name I/O Description
54 Reserved - Reserved
Table 8: ZED-F9K pin assigment
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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
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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
12
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
I
PEAK
13
I
VCC
I
supply
Table 11: Currents to calculate the indicative power requirements
Peak current Acquisition 130 120 mA
VCC current Acquisition 90 75 mA
13
Supply current Tracking 85 68 mA
+GAL+BDS
All values in Table 11 are measured at 25 °C ambient temperature.
GPS Unit
12
Only valid for the GPS
13
Simulated GNSS signal
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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
R
u
Δ
Tx
Δ
Rx
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.
14
I2C is a registered trademark of Philips/NXP
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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.
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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)
f
SCL
t
HD;STA
t
LOW
t
HIGH
t
SU;STA
t
HD;DAT
t
SU;DAT
t
r
t
f
t
SU;STO
t
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
t
VD;DAT
t
VD;ACK
V
nL
V
nH
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
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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.
15
I2C is a registered trademark of Philips/NXP
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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.
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6 Mechanical specification
ZED-F9K-Data sheet
Figure 5: ZED-F9K mechanical drawing
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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.
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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.
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Related documents

[1] ZED-F9K Integration manual, UBX-20046189 [2] ZED-F9K Interface description, UBX-20046191 [3] Radio Resource LCS Protocol (RRLP), (3GPP TS 44.031 version 11.0.0 Release 11)
For regular updates to u-blox documentation and to receive product change notifications please register on our homepage https://www.u-blox.com.
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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
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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
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Phone: +86 23 6815 1588  E-mail: info_cn@u-blox.com  Support: support_cn@u-blox.com
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Phone: +86 755 8627 1083  E-mail: info_cn@u-blox.com  Support: support_cn@u-blox.com
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Phone: +91 80 4050 9200  E-mail: info_in@u-blox.com  Support: support_in@u-blox.com
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Phone: +81 6 6941 3660  E-mail: info_jp@u-blox.com  Support: support_jp@u-blox.com
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Phone: +81 3 5775 3850  E-mail: info_jp@u-blox.com  Support: support_jp@u-blox.com
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Phone: +82 2 542 0861  E-mail: info_kr@u-blox.com  Support: support_kr@u-blox.com
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Phone: +886 2 2657 1090  E-mail: info_tw@u-blox.com  Support: support_tw@u-blox.com
Europe, Middle East, Africa
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