U-blox ZED-F9P Datasheet
ZED-F9P
u-blox F9 high precision GNSS module
Data sheet
Abstract
This data sheet describes the ZED-F9P high precision module with multiband GNSS receiver. The module provides multi-band RTK with fast
convergence times, reliable performance and easy integration of RTK
for fast time-to-market. It has a high update rate for highly dynamic
applications and centimeter accuracy in a small and energy-efficient
module.
www.u-blox.com
UBX-17051259 - R08
ZED-F9P-Data sheet
Document information
Title ZED-F9P
Subtitle u-blox F9 high precision GNSS module
Document type Data sheet
Document number UBX-17051259
Revision and date R08 04-Jun-2020
Document status Early production information
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-F9P ZED-F9P-02B-00 HPG 1.13
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-F9P-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
2 System description...............................................................................................................9
2.1 Block diagram.......................................................................................................................................... 9
3 Pin definition.........................................................................................................................10
3.1 Pin assignment......................................................................................................................................10
4 Electrical specification...................................................................................................... 13
4.1 Absolute maximum ratings................................................................................................................ 13
4.2 Operating conditions............................................................................................................................13
4.3 Indicative power requirements...........................................................................................................14
5 Communications interfaces.............................................................................................15
5.1 UART interface...................................................................................................................................... 15
5.2 SPI interface...........................................................................................................................................15
5.3 Slave I2C interface................................................................................................................................16
5.4 USB interface.........................................................................................................................................17
5.5 Default interface settings...................................................................................................................18
6 Mechanical specification.................................................................................................. 19
7 Reliability tests and approvals....................................................................................... 20
7.1 Approvals................................................................................................................................................20
8 Labeling and ordering information................................................................................ 21
8.1 Product labeling.................................................................................................................................... 21
8.2 Explanation of product codes............................................................................................................ 21
8.3 Ordering codes...................................................................................................................................... 21
Related documents................................................................................................................ 22
Revision history.......................................................................................................................23
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Contents Page 3 of 24
ZED-F9P-Data sheet
1 Functional description
1.1 Overview
The ZED-F9P positioning module features the u-blox F9 receiver platform, which provides multiband GNSS to high volume industrial applications. The ZED-F9P has integrated u-blox multiband RTK technology for centimeter level accuracy. The module enables precise navigation and
automation of moving machinery in industrial and consumer grade products in a compact surface
mounted form factor.
The ZED-F9P includes moving base support, allowing both base and rover to move while computing
a centimeter-level accurate position between them. Moving base is ideal for UAV applications where
the UAV is programmed to follow its owner or to land on a moving platform. It is also well suited to
attitude sensing applications where both base and rover modules are mounted on the same moving
platform and the relative position is used to derive attitude information for the vehicle or tool.
1.2 Performance
Parameter Specification
Receiver type Multi-band GNSS high precision receiver
Accuracy of time pulse signal
Frequency of time pulse signal
Operational limits
Velocity accuracy
Dynamic heading accuracy
1
2
2
RMS
99%
Dynamics
Altitude
Velocity
30 ns
60 ns
0.25 Hz to 10 MHz
(configurable)
≤ 4 g
50,000 m
500 m/s
0.05 m/s
0.3 deg
3
GNSS
4
Acquisition
Nav. update
rate
Convergence
6
time
Table 1: ZED-F9P performance in different GNSS modes
1
Assuming Airborne 4 g platform
2
50% @ 30 m/s for dynamic operation
3
GPS used in combination with QZSS and SBAS
4
Commanded starts. All satellites at -130 dBm. Measured at room temperature.
5
Dependent on the speed and latency of the aiding data connection, commanded starts
6
Depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and
geometry
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Cold start
Hot start
Aided start
RTK
PVT
RAW
RTK < 10 s < 10 s < 10 s < 10 s < 10 s < 30 s
GPS+GLO+GAL+BDS GPS+GLO+GAL GPS+GAL GPS+GLO GPS+BDS GPS
5
25 s
2 s
2 s
8 Hz
10 Hz
20 Hz
25 s
2 s
2 s
10 Hz
12 Hz
20 Hz
1 Functional description Page 4 of 24
30 s
2 s
2 s
15 Hz
20 Hz
25 Hz
26 s
2 s
2 s
15 Hz
25 Hz
25 Hz
28 s
2 s
2 s
15 Hz
25 Hz
25 Hz
30 s
2 s
2 s
20 Hz
25 Hz
25 Hz
ZED-F9P-Data sheet
GNSS GPS+GLO+GAL+BDS GPS+GLO+GAL GPS+GAL GPS+GLO GPS+BDS GPS
Horizontal
pos. accuracy
Vertical pos.
accuracy
Table 2: ZED-F9P position accuracy in different GNSS modes
PVT
SBAS
RTK
RTK
7
7
8
8
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
1.5 m CEP
1.0 m CEP
0.01 m
+ 1 ppm CEP
0.01 m
+ 1 ppm R50
3
GNSS
Sensitivity
9
Tracking and nav.
Reacquisition
Cold start
Hot start
GPS+GLO+GAL+BDS
-167 dBm
-160 dBm
-148 dBm
-157 dBm
Table 3: ZED-F9P sensitivity
GNSS GPS+GLO+GAL+BDS GPS+GLO+GAL GPS+GAL GPS+GLO GPS+BDS GPS
Nav. update rate
Heading accuracy
8 Hz 8 Hz 10 Hz 10 Hz 10 Hz 10 Hz
0.4 deg 0.4 deg 0.4 deg 0.4 deg 0.4 deg 0.4 deg
Table 4: ZED-F9P moving base RTK performance in different GNSS modes
Figure 1: ZED-F9P moving base RTK heading accuracy versus baseline length
In a moving base application, and especially when the antennas are mounted on the same
platform, it is recommended to use identical antennas. Furthermore it is recommended
7
24 hours static
8
Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna
phase center offset errors. ppm limited to baselines up to 20 km
9
Demonstrated with a good external LNA. Measured at room temperature.
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ZED-F9P-Data sheet
these antennas are mounted with identical orientation, as this will minimize effects of phase
center variation.
1.3 Supported GNSS constellations
The ZED-F9P 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.
The QZSS system shares the same L1 and L2 frequency bands as GPS and can always 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-F9P Integration manual [1] for u-blox design
recommendations.
The ZED-F9P supports the GNSS and their signals as shown in Table 5.
GPS GLONASS Galileo
L1C/A (1575.42 MHz) L1OF (1602 MHz + k*562.5
kHz, k = –7,..., 5, 6)
L2C (1227.60 MHz) L2OF (1246 MHz + k*437.5
kHz, k = –7,..., 5, 6)
Table 5: Supported GNSS and signals on ZED-F9P
E1-B/C (1575.42 MHz) B1I (1561.098 MHz)
E5b (1207.140 MHz) B2I (1207.140 MHz)
BeiDou
The following GNSS assistance services can be activated on ZED-F9P:
AssistNow™ Online AssistNow™ Offline AssistNow™ Autonomous
Supported - -
Table 6: Supported Assisted GNSS (A-GNSS) services
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 transmits
additional L1 C/A and L2C signals for the Pacific region covering Japan and Australia. The ZEDF9P high precision receiver is able to receive and track these signals concurrently with GPS L1 C/A
and L2C signals, resulting in better availability especially under challenging signal conditions, e.g.
in urban canyons.
The ZED-F9P 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
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).
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ZED-F9P-Data sheet
QZSS can be enabled only if GPS operation is also configured.
1.4.2 Satellite based augmentation system (SBAS)
The ZED-F9P high precision receiver 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.
1.4.3 Differential GNSS (DGNSS)
When operating in RTK mode, RTCM version 3 messages are required and the module supports
DGNSS according to RTCM 10403.3.
A ZED-F9P operating in rover mode 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
RTCM 4072.0 Reference station PVT (u-blox proprietary RTCM Message)
Table 7: Supported input RTCM 3.3 messages
A ZED-F9P operating as a base station can generate the following RTCM 3.3 output messages:
Message type Description
RTCM 1005 Stationary RTK reference station ARP
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ZED-F9P-Data sheet
Message type Description
RTCM 1074 GPS MSM4
RTCM 1077 GPS MSM7
RTCM 1084 GLONASS MSM4
RTCM 1087 GLONASS MSM7
RTCM 1094 Galileo MSM4
RTCM 1097 Galileo MSM7
RTCM 1124 BeiDou MSM4
RTCM 1127 BeiDou MSM7
RTCM 1230 GLONASS code-phase biases
RTCM 4072.0 Reference station PVT (u-blox proprietary RTCM Message)
RTCM 4072.1 Additional reference station information (u-blox proprietary RTCM Message)
Table 8: Supported output RTCM 3.3 messages
1.5 Broadcast navigation data and satellite signal measurements
The ZED-F9P can output all the GNSS broadcast data upon reception from tracked satellites. This
includes all the supported GNSS signals plus the augmentation services QZSS and SBAS. The UBXRXM-SFRBX message is used for 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-F9P Interface description [2].
1.5.1 Carrier-phase measurements
The ZED-F9P 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-F9P Interface description [2].
Raw measurement data are available once the receiver has established data bit
synchronization and time-of-week.
1.6 Supported protocols
The ZED-F9P 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/output, binary
Table 9: Supported protocols
For specification of the protocols, see the u-blox ZED-F9P Interface description [2].
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