ZED-F9P-Integration manual
Configuration item Description
CFG-TMODE-MODE Receiver mode (disabled or survey-in or fixed)
CFG-TMODE-POS_TYPE Determines whether the ARP position is given in ECEF or LAT/LON/HEIGHT
CFG-TMODE-ECEF_X ECEF X coordinate of the ARP position
CFG-TMODE-ECEF_Y ECEF Y coordinate of the ARP position
CFG-TMODE-ECEF_Z ECEF Z coordinate of the ARP position
CFG-TMODE-LAT Latitude of the ARP position
CFG-TMODE-LON Longitude of the ARP position
CFG-TMODE-HEIGHT Height of the ARP position
CFG-TMODE-ECEF_X_HP High-precision ECEF X coordinate of the ARP position
CFG-TMODE-ECEF_Y_HP High-precision ECEF Y coordinate of the ARP position
CFG-TMODE-ECEF_Z_HP High-precision ECEF Z coordinate of the ARP position
CFG-TMODE-LAT_HP High-precision latitude of the ARP position
CFG-TMODE-LON_HP High-precision longitude of the ARP position
CFG-TMODE-HEIGHT_HP High-precision height of the ARP position
CFG-TMODE-FIXED_POS_ACC Fixed position 3D accuracy estimate
Table 9: Configuration items used for setting a base station into fixed mode
Once the receiver is set in fixed mode, select the position format to use: either LLH or ECEF with
optional high precision (mm) coordinates compared to the standard cm value.
For example, with CFG-TMODE-POS_TYPE=ECEF the base antenna position can be entered
to cm precision using CFG-TMODE-ECEF_X, CFG-TMODE-ECEF_Y, CFGTMODE-ECEF_Z. For
high precision (mm) coordinates use CFG-TMODEECEF_X_HP, CFG-TMODE-ECEF_Y_HP, CFG-
TMODE-ECEF_Z_HP. The same applies with corresponding coordinates used with CFG-TMODE-
POS_TYPE=LLH.
The "3D accuracy" estimate in "Fixed Position" and the "Position accuracy limit" in "Survey-in" will
affect the rover absolute position accuracy. Note that the availability of the position accuracy does
not mitigate the error in the rover position, but only accounts for it when calculating the resulting
positioning accuracy.
In stationary base station mode a current position check is made with respect to the fixed
coordinates. If the result indicates the fixed position coordinates are incorrect, a UBX-INF-
WARNING message "Base station position seems incorrect" is issued. The message is
output when the coordinates are incorrect by more than ~50 m up to 25 km.
If the base station is moved during operation then new position coordinates must be
configured.
An illustrated procedure for configuring a base receiver using u-center is shown in the Appendix C.1.
3.1.5.5.3 Base station: RTCM output configuration
The desired RTCM messages must be selected and configured for the corresponding GNSS
constellations received. The recommended list of RTCM output messages for a base operating in
default GNSS configuration are:
• RTCM 1005 Stationary RTK reference station ARP
• RTCM 1074 GPS MSM4
• RTCM 1084 GLONASS MSM4
• RTCM 1094 Galileo MSM4
• RTCM 1124 BeiDou MSM4
• RTCM 1230 GLONASS code-phase biases
UBX-18010802 - R08
3 Receiver functionality Page 19 of 110
Early production information
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