ZED-F9P-Integration manual
Message type Description
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 6: ZED-F9P supported input RTCM version 3.3 messages
3.1.5.3 List of supported RTCM output messages
Message type Description
RTCM 1005 Stationary RTK reference station ARP
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 7: ZED-F9P supported output RTCM version 3.3 messages
3.1.5.4 Rover operation
In its default configuration, the ZED-F9P will attempt to provide the best positioning accuracy
depending on the received correction data. It will enter RTK float mode as soon as it receives an input
stream of RTCM correction messages. Once the rover has resolved the carrier phase ambiguities,
it will enter RTK fixed mode. When in this mode, the relative position accuracy between base and
rover can be expected to be correct to the cm-level. The time period between RTK float and RTK fixed
operation is referred to as the convergence time. Note that the convergence time is affected by the
baseline length as well as by multipath and satellite visibility at both rover and base station.
UBX-18010802 - R08
3 Receiver functionality Page 16 of 110
Early production information
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