ZED-F9P-Integration Manual
UBX-18010802 - R02

Contents Page 3 of 114
Advance Information
Contents
1 Overview................................................................................................................................... 7
1.1 Real Time Kinematic.............................................................................................................................. 7
1.1.1 RTK modes of operation...............................................................................................................7
1.2 Typical ZED-F9P application setups.................................................................................................. 8
1.2.1 ZED-F9P in a drone application.................................................................................................. 8
1.2.2 ZED-F9P in a robotic mower application.................................................................................. 9
2 Integration manual structure..........................................................................................10
3 Getting started....................................................................................................................11
3.1 RTCM corrections.................................................................................................................................12
3.2 List of supported RTCM input messages.......................................................................................13
3.3 List of supported RTCM output messages.................................................................................... 14
3.4 NTRIP - Networked Transport of RTCM via Internet Protocol....................................................14
3.5 Configuration of the base and rover for RTK operation...............................................................15
3.5.1 Time mode configuration on the base.................................................................................... 15
3.5.2 Required configuration of the base and rover.......................................................................16
3.5.3 Communication interface configuration.................................................................................17
3.5.4 Message output configuration................................................................................................. 17
3.5.5 Base station: RTCM output configuration............................................................................. 18
3.5.6 Base and rover: UBX output configuration.............................................................................18
3.5.7 Base station: Mode configuration............................................................................................18
3.5.8 Base station: Configuration procedure in u-center overview............................................. 20
3.5.9 Rover: Configuration procedure in u-center overview.......................................................... 24
3.5.10 RTK rover mode output in messages................................................................................... 28
3.6 Default GNSS configuration...............................................................................................................28
3.7 Default messages.................................................................................................................................29
4 Receiver description...........................................................................................................30
4.1 Receiver configuration.........................................................................................................................30
4.2 Changing configuration.......................................................................................................................30
4.3 Basic receiver configuration...............................................................................................................30
4.3.1 Communication interface configuration.................................................................................30
4.3.2 Message output configuration................................................................................................. 30
4.3.3 GNSS signal configuration.........................................................................................................31
4.3.4 Antenna supervisor configuration........................................................................................... 32
4.4 Legacy configuration interface compatibility................................................................................ 33
4.5 Serial Communication Ports Description........................................................................................ 33
4.5.1 TX-ready indication......................................................................................................................33
4.5.2 Extended TX timeout.................................................................................................................. 34
4.5.3 UART Ports....................................................................................................................................34
4.5.4 USB Port.........................................................................................................................................34
4.5.5 DDC Port........................................................................................................................................ 35
4.5.6 SPI Port.......................................................................................................................................... 38
4.6 Multiple GNSS Assistance (MGA).....................................................................................................39
4.6.1 AssistNow Online.........................................................................................................................39
4.6.2 Host software............................................................................................................................... 40
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