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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1 Functional description Page 8 of 24
2 System description
2.1 Block diagram
ZED-F9P-Data sheet
Figure 2: ZED-F9P block diagram
An active antenna is mandatory with the ZED-F9P. See the ZED-F9P Integration manual [1].
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ZED-F9P-Data sheet
3 Pin definition
3.1 Pin assignment
The pin assignment of the ZED-F9P module is shown in Figure 3. The defined configuration of the
PIOs is listed in Table 10.
For detailed information on pin functions and characteristics, see the u-blox ZED-F9P Integration
manual [1].
The ZED-F9P is an LGA package with the I/O on the outside edge and central ground pads.
Figure 3: ZED-F9P 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 - default active high
5 ANT_OFF O External LNA disable - default active high
6 ANT_SHORT_N I Active antenna short detect - default active low
7 VCC_RF O Voltage for external LNA
8 Reserved - Reserved
9 Reserved - Reserved
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3 Pin definition Page 10 of 24
ZED-F9P-Data sheet
Pin No Name I/O Description
10 Reserved - Reserved
11 Reserved - Reserved
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 (RTK fixed), Blinking (receiving and using RTCM corrections), 1
21 Reserved - Reserved
22 Reserved - Reserved
23 Reserved - Reserved
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 supply
39 USB_DM I/O USB data
40 USB_DP I/O USB data
41 GND - Ground
42 TXD / SPI_MISO O Host UART output if D_SEL = 1(or open). SPI_MISO if D_SEL = 0
43 RXD / SPI_MOSI I Host UART input 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 for pins 42-45
48 GND - Ground
49 RESET_N I RESET_N
50 SAFEBOOT_N I SAFEBOOT_N (for future service, updates and reconfiguration, leave OPEN)
51 EXTINT I External Interrupt Pin
52 Reserved - Reserved
(otherwise)
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3 Pin definition Page 11 of 24
Pin No Name I/O Description
53 TIMEPULSE O Time pulse
54 Reserved - Reserved
Table 10: ZED-F9P pin assignment
ZED-F9P-Data sheet
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3 Pin definition Page 12 of 24
ZED-F9P-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
VCC_RF output current ICC_RF 100 mA
Supply voltage USB V_USB –0.5 3.6 V
USB signals USB_DN,
USB_DP
Input power at RF_IN Prfin source impedance =
50Ω, continuous wave
Storage temperature Tstg -40 +85 °C
Table 11: Absolute maximum ratings
-0.5 V_USB + 0.5 V
10 dBm
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 1.4 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
DC current through any digital I/O pin
(except supplies)
VCC_RF voltage VCC_RF VCC - 0.1 V
Ipin 5 mA
VCC = 0 V
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ZED-F9P-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 12: Operating conditions
10
NFtot 9.5 dB
Operation beyond the specified operating conditions can affect device reliability.
4.3 Indicative power requirements
Table 13 lists examples of the total system supply current including RF and baseband section for
a possible application.
Values in Table 13 are provided for customer information only, as an example of typical
current requirements. Values are characterized on samples with using a command cold
start. Actual power requirements can vary depending on FW version used, external circuitry,
number of SVs tracked, signal strength, type and time of start, duration, and conditions of
test.
Symbol Parameter Conditions GPS+GLO
I
PEAK
11
I
VCC
I
supply
Table 13: Currents to calculate the indicative power requirements
Peak current Acquisition 130 120 mA
VCC current Acquisition 90 75 mA
11
Supply current Tracking 85 68 mA
+GAL+BDS
All values in Table 13 are measured at 25 °C ambient temperature.
GPS Unit
10
Only valid for the GPS
11
Simulated GNSS signal
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ZED-F9P-Data sheet
5 Communications interfaces
There are several communications interfaces including UART, SPI, I2C12 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
There are two UART interfaces: UART1 and UART2. They operate from a speed of 9600 baud, up to
and including 921600 baud.
Hardware flow control is not supported.
UART1 is enabled by default if D_SEL = 1 or unconnected.
5.2 SPI interface
The ZED-F9P has an SPI slave interface that can be selected by setting D_SEL = 0. The SPI
slave interface is shared with UART1. 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-F9P slave operation. The following tables
present timing values under different capacitive loading conditions. Default SPI configuration is
CPOL = 0 and CPHA = 0.
Figure 4: ZED-F9P high precision receiver SPI specification mode 1: CPHA=0 SCK = 5.33 MHz
Timings 1 - 12 are not specified here as those are depending on SPI master. Timings A - E
are specified for SPI slave.
12
I2C is a registered trademark of Philips/NXP
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5 Communications
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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 14: ZED-F9P SPI timings at 2pF 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 15: ZED-F9P SPI timings at 20pF 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 16: ZED-F9P SPI timings at 60pF load
ZED-F9P-Data sheet
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 Fast-Mode of the I2C industry
standard. 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.
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ZED-F9P-Data sheet
Figure 5: ZED-F9P 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 17: ZED-F9P I2C slave timings and specifications
Max Unit
5.4 USB interface
A USB interface, which is compatible to USB version 2.0 FS (Full Speed, 12 Mbit/s), can be used for
communication to a host. The V_USB pin supplies the USB interface.
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ZED-F9P-Data sheet
5.5 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 18: 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 and RTCM 3.3 protocols are enabled by default but no output messages are enabled by
default.
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 is enabled by default but no output messages are enabled by default.
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 I2C13 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-F9P Integration manual [1]).
Refer to the u-blox ZED-F9P Interface description [2] for information about further
settings.
By default the ZED-F9P outputs NMEA 4.10 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 UART1 baud rate being used is sufficient for the selected navigation
rate and the number of GNSS signals being received.
13
I2C is a registered trademark of Philips/NXP
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5 Communications
interfaces
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6 Mechanical specification
ZED-F9P-Data sheet
Figure 6: ZED-F9P mechanical drawing
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6 Mechanical specification Page 19 of 24
ZED-F9P-Data sheet
7 Reliability tests and approvals
ZED-F9P 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-F9P is designed to in compliance with the essential requirements and other relevant
provisions of Radio Equipment Directive (RED) 2014/53/EU.
The ZED-F9P 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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7 Reliability tests
and approvals
Page 20 of 24
ZED-F9P-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-F9P Integration manual [1].
8.1 Product labeling
The labeling of the ZED-F9P modules provides product information and revision information. For
more information contact u-blox sales.
8.2 Explanation of product codes
Three different 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. Table 19 below details these three different formats.
Format Structure Code for this product
Product name PPP-TGV ZED-F9P
Ordering code PPP-TGV-NNQ ZED-F9P-02B
Type number PPP-TGV-NNQ-XX ZED-F9P-02B-00
Table 19: Product code formats
The parts of the product code are explained in Table 20.
Code Meaning Example
PPP Product family ZED
TG Platform F9 = u-blox F9
V Variant P = High precision
NNQ Option / Quality grade NN: Option [00...99]
Q: Grade, A = Automotive, B = Professional
XX Product detail Describes hardware and firmware versions
Table 20: Part identification code
8.3 Ordering codes
Ordering code Product Remark
ZED-F9P-02B ZED-F9P Product shipped with the latest firmware
ZED-F9P-01B ZED-F9P Product shipped with firmware FW 1.00 HPG
Table 21: 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.
(currently FW 1.00 HPG 1.13).
1.12.
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8 Labeling and
ordering information
Page 21 of 24
ZED-F9P-Data sheet
Related documents
[1] ZED-F9P Integration manual, UBX-18010802
[2] ZED-F9P Interface description, UBX-18010854
[3] Radio Resource LCS Protocol (RRLP), (3GPP TS 44.031 version 11.0.0 Release 11)
[4] ZED-F9P Moving Base application note, UBX-19009093
For regular updates to u-blox documentation and to receive product change notifications
please register on our homepage (http://www.u-blox.com).
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Related documents Page 22 of 24
ZED-F9P-Data sheet
Revision history
Revision Date Name Status / comments
R01 21-May-2018 ghun/jhak Objective specification
R02 18-Sep-2018 ghun Advance information
R03 20-Dec-2018 ghun Advance information - Table 4.1, Input power at RF_IN reduced to 10 dBm
R04 26-Feb-2019 ghun
R05 11-July-2019 jhak/ghun HPG 1.12 and ZED-F9P-01B update
R06 15-Jan-2020 ghun Early production information - PCN UBX-19057484 added and module type
R07 20-Feb-2020 jhak Absolute maximum ratings and Operating conditions tables updated.
R08 02-Jun-2020 dama HPG 1.13 update. ZED-F9P-02B-00 update.
Early production information.
Mechanical specification figure updated.
number updated.
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ZED-F9P-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
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