ZED-F9P u-blox F9 high precision GNSS module Integration manual Abstract This document describes the features and application of the ZED-F9P, a multi-band GNSS module with integrated RTK offering centimeter level accuracy. www.u-blox.com UBX-18010802 - R09 C1-Public ZED-F9P - Integration manual Document information Title ZED-F9P Subtitle u-blox F9 high precision GNSS module Document type Integration manual Document number UBX-18010802 Revision and date R09 25-Jun-2021 Document status Production information Disclosure restriction C1-Public 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 or third parties may hold intellectual property rights in the products, names, logos and designs included in this document. Copying, reproduction, modification or disclosure to third parties of this document or any part thereof is only permitted with the express written permission of u-blox. The information contained herein is provided "as is" and u-blox assumes no liability for its use. No warranty, either express or implied, is given, including but not limited to, with respect 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 without notice. For the most recent documents, visit www.u-blox.com. Copyright © 2021, u-blox AG. UBX-18010802 - R09 Page 2 of 110 C1-Public Production information ZED-F9P - Integration manual Contents 1 Integration manual structure............................................................................................ 6 2 System description...............................................................................................................7 2.1 Overview.................................................................................................................................................... 7 2.1.1 Real time kinematic......................................................................................................................7 2.2 Architecture..............................................................................................................................................8 2.2.1 Block diagram..................................................................................................................................8 2.2.2 Typical ZED-F9P application setups..........................................................................................8 3 Receiver functionality........................................................................................................11 3.1 Receiver configuration......................................................................................................................... 11 3.1.1 Changing the receiver configuration....................................................................................... 11 3.1.2 Default GNSS configuration...................................................................................................... 11 3.1.3 Default interface settings..........................................................................................................12 3.1.4 Basic receiver configuration...................................................................................................... 12 3.1.5 RTK configuration........................................................................................................................ 15 3.1.6 Legacy configuration interface compatibility........................................................................ 22 3.1.7 Navigation configuration............................................................................................................ 22 3.2 SBAS........................................................................................................................................................27 3.3 QZSS SLAS............................................................................................................................................ 28 3.3.1 Features......................................................................................................................................... 29 3.3.2 Configuration................................................................................................................................ 29 3.4 Geofencing..............................................................................................................................................30 3.4.1 Introduction................................................................................................................................... 30 3.4.2 Interface......................................................................................................................................... 30 3.4.3 Geofence state evaluation......................................................................................................... 30 3.4.4 Using a PIO for geofence state output................................................................................... 31 3.5 Logging....................................................................................................................................................31 3.5.1 Introduction................................................................................................................................... 31 3.5.2 Setting the logging system up................................................................................................. 31 3.5.3 Information about the log.......................................................................................................... 32 3.5.4 Recording....................................................................................................................................... 32 3.5.5 Retrieval......................................................................................................................................... 34 3.5.6 Command message acknowledgment....................................................................................34 3.6 Communication interfaces................................................................................................................. 35 3.6.1 UART interfaces........................................................................................................................... 36 3.6.2 I2C interface..................................................................................................................................37 3.6.3 SPI interface..................................................................................................................................40 3.6.4 USB interface................................................................................................................................41 3.7 Predefined PIOs.....................................................................................................................................42 3.7.1 D_SEL..............................................................................................................................................42 3.7.2 RESET_N........................................................................................................................................ 42 3.7.3 SAFEBOOT_N................................................................................................................................42 3.7.4 TIMEPULSE................................................................................................................................... 42 3.7.5 TX_READY..................................................................................................................................... 43 3.7.6 EXTINT............................................................................................................................................43 UBX-18010802 - R09 Contents Page 3 of 110 C1-Public Production information ZED-F9P - Integration manual 3.7.7 GEOFENCE_STAT interface....................................................................................................... 43 3.7.8 RTK_STAT interface.....................................................................................................................44 3.8 Antenna supervisor.............................................................................................................................. 44 3.8.1 Antenna voltage control - ANT_OFF........................................................................................45 3.8.2 Antenna short detection - ANT_SHORT_N............................................................................ 46 3.8.3 Antenna short detection auto recovery.................................................................................. 46 3.8.4 Antenna open circuit detection - ANT_DETECT................................................................... 47 3.9 Multiple GNSS assistance (MGA)..................................................................................................... 47 3.9.1 Authorization................................................................................................................................ 48 3.9.2 Multiple servers............................................................................................................................48 3.9.3 Preserving information during power-off................................................................................48 3.9.4 AssistNow Online........................................................................................................................