U-blox F9 High Precision GNSS Module

ZED-F9Pu-blox F9 high precision GNSS moduleIntegration ManualAbstractThis document describes the features and specifications ofZED-F9P, a multi-band GNSS module offering centimeter levelaccuracy with integrated RTK.www.u-blox.comUBX-18010802 - R02

ZED-F9P - Integration ManualDocument InformationTitleZED-F9PSubtitleu-blox F9 high precision GNSS moduleDocument typeIntegration ManualDocument numberUBX-18010802Revision and dateR02Document StatusAdvance Information03-Oct-2018This document applies to the following products:Product nameType numberFirmware versionPCN referenceZED-F9PZED-F9P-00B-00HPG 1.00N/Au-blox reserves all rights to this document and the information contained herein. Products, names, logos and designsdescribed herein may in whole or in part be subject to intellectual property rights. Reproduction, use, modification ordisclosure 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. Nowarranty, either express or implied, is given with respect to, including but not limited to, the accuracy, correctness, reliabilityand fitness for a particular purpose of the information. This document may be revised by u-blox at any time. For most recentdocuments, please visit www.u blox.com.Copyright 2018, u-blox AG.u-blox is a registered trademark of u-blox Holding AG in the EU and other countries.UBX-18010802 - R02Advance InformationPage 2 of 114

ZED-F9P - Integration ManualContents1 Overview. 71.1 Real Time Kinematic. 71.1.1 RTK modes of operation.71.2 Typical ZED-F9P application setups. 81.2.1 ZED-F9P in a drone application. 81.2.2 ZED-F9P in a robotic mower application. 92 Integration manual structure.103 Getting started. 113.1 RTCM corrections.123.2 List of supported RTCM input messages.133.3 List of supported RTCM output messages. 143.4 NTRIP - Networked Transport of RTCM via Internet Protocol.143.5 Configuration of the base and rover for RTK operation.153.5.1 Time mode configuration on the base. 153.5.2 Required configuration of the base and rover. 163.5.3 Communication interface configuration.173.5.4 Message output configuration. 173.5.5 Base station: RTCM output configuration. 183.5.6 Base and rover: UBX output configuration.183.5.7 Base station: Mode configuration. 183.5.8 Base station: Configuration procedure in u-center overview. 203.5.9 Rover: Configuration procedure in u-center overview. 243.5.10 RTK rover mode output in messages. 283.6 Default GNSS configuration.283.7 Default messages.294 Receiver description.304.1 Receiver configuration.304.2 Changing configuration.304.3 Basic receiver configuration. 304.3.1 Communication interface configuration.304.3.2 Message output configuration. 304.3.3 GNSS signal configuration.314.3.4 Antenna supervisor configuration. 324.4 Legacy configuration interface compatibility. 334.5 Serial Communication Ports Description. 334.5.1 TX-ready indication.334.5.2 Extended TX timeout. 344.5.3 UART Ports.344.5.4 USB Port.344.5.5 DDC Port. 354.5.6 SPI Port. 384.6 Multiple GNSS Assistance (MGA).394.6.1 AssistNow Online. 394.6.2 Host software. 40UBX-18010802 - R02Advance InformationContentsPage 3 of 114

ZED-F9P - Integration Manual4.6.3 AssistNow Online sequence. 404.6.4 Flow control.414.6.5 Authorization. 414.6.6 Service parameters. 414.6.7 Multiple servers.434.7 Broadcast navigation data. 434.7.1 Parsing navigation data subframes. 434.7.2 GPS.444.7.3 GLONASS.454.7.4 BeiDou.464.7.5 Galileo. 464.7.6 QZSS.484.7.7 Summary.494.8 Clocks and time. 494.8.1 Receiver local time.494.8.2 Navigation epochs. 494.8.3 iTOW timestamps. 504.8.4 GNSS times. 514.8.5 Time validity. 514.8.6 UTC representation. 514.8.7 Leap seconds. 524.8.8 Real time clock. 524.8.9 Date. 524.9 Navigation configuration settings description. 534.9.1 Platform settings.534.9.2 Navigation input filters.544.9.3 Navigation output filters. 544.9.4 Static hold. 554.9.5 Freezing the course over ground.574.9.6 Degraded navigation. 584.10 Time pulse.584.10.1 Introduction.584.10.2 Recommendations. 594.10.3 GNSS time bases.604.10.4 Time pulse configuration. 604.10.5 Configuring time pulse with CFG-TP-*. 614.11 Forcing a receiver reset. 624.12 Geofencing. 634.12.1 Introduction.634.12.2 Interface.634.12.3 Geofence state evaluation.634.12.4 Using a PIO for geofence state output.644.13 Receiver status monitoring.644.13.1 Input/output system.644.13.2 Jamming/interference indicator. 644.13.3 Jamming/interference monitor (ITFM).654.14 Host interface signature description.654.14.1 Introduction.654.14.2 Configuring the fixed seed and register messages. 664.14.3 Configuring the dynamic seed.66UBX-18010802 - R02Advance InformationContentsPage 4 of 114

ZED-F9P - Integration Manual4.14.4 Parsing the signature. 664.14.5 Calculate the hash. 664.15 Spoofing detection.674.15.1 Introduction.674.15.2 Scope. 674.16 Timemark. 675 Hardware description. 695.1 Block diagram. 695.2 Connecting power.695.2.1 VCC: Main supply voltage. 695.2.2 V BCKP: Backup supply voltage.705.2.3 ZED-F9P Power supply. 705.3 Interfaces.715.3.1 UART interfaces.725.3.2 SPI interface.735.3.3 D SEL interface.735.3.4 RESET N interface. 735.3.5 SAFEBOOT N interface.735.3.6 TIMEPULSE interface. 735.3.7 TX READY interface.735.3.8 USB interface.735.3.9 Display Data Channel (DDC). 755.3.10 Antenna supervisor. 755.3.11 EXTINT. 786 EOS/ESD precautions.796.16.26.36.4ESD handling precautions. 79ESD protection measures.79EOS precautions. 80Safety precautions. 807 Electromagnetic interference on I/O lines. 817.1 General notes on interference issues. 817.2 In-band interference mitigation. 827.3 Out-of-band interference. 828 Design. 838.1 Pin assignment.

Following u-blox's proven strategy of bringing high-performance GNSS technology to mass markets, the ZED-F9P incorporates u