ZED-F9P-Integration Manual
UBX-18010802 - R02
4 Receiver description Page 54 of 114
Advance Information
Platform Description
Wrist Only recommended for wrist worn applications. Receiver will filter out arm motion. (just
available for protocol version > 17)
Table 18: Dynamic Platform Models
Platform Max Altitude [m] MAX Horizontal
Velocity [m/s]
MAX Vertical
Velocity [m/s]
Sanity check type Max
Position
Deviation
Portable 12000 310 50 Altitude and Velocity Medium
Stationary 9000 10 6 Altitude and Velocity Small
Pedestrian 9000 30 20 Altitude and Velocity Small
Automotive 6000 100 15 Altitude and Velocity Medium
At sea 500 25 5 Altitude and Velocity Medium
Airborne <1g 50000 100 100 Altitude Large
Airborne <2g 50000 250 100 Altitude Large
Airborne <4g 50000 500 100 Altitude Large
Wrist 9000 30 20 Altitude and Velocity Medium
Table 19: Dynamic Platform Model Details
Dynamic platforms designed for high acceleration systems (e.g. airborne <2g) can result in a higher
standard deviation in the reported position.
If a sanity check against a limit of the dynamic platform model fails, then the position solution is
invalidated. The table above shows the types of sanity checks which are applied for a particular
dynamic platform model.
4.9.2 Navigation input filters
The navigation input filters in CFG-NAVSPG-* configuration group provide the input data of the
navigation engine.
Configuration item Description
CFG-NAVSPG-FIXMODE By default, the receiver calculates a 3D position fix if possible but reverts to 2D position
if necessary (Auto 2D/3D). The receiver can be forced to only calculate 2D (2D only) or
3D (3D only) positions.
CFG-NAVSPG-CONSTR_ALT,
CFG-NAVSPG-CONSTR_ALTVAR
The fixed altitude is used if fixMode is set to 2D only. A variance greater than zero must
also be supplied.
CFG-NAVSPG-INFIL_MINELEV Minimum elevation of a satellite above the horizon in order to be used in the navigation
solution. Low elevation satellites may provide degraded accuracy, due to the long
signal path through the atmosphere.
CFG-NAVSPG-INFIL_NCNOTHRS,
CFG-NAVSPG-INFIL_CNOTHRS
A navigation solution will only be attempted if there are at least the given number of
SVs with signals at least as strong as the given threshold.
Table 20: Navigation Input Filter parameters
4.9.3 Navigation output filters
The result of a navigation solution is initially classified by the fix type (as detailed in the fixType
field of UBX-NAV- PVT message). This distinguishes between failures to obtain a fix at all ("No Fix")
and cases where a fix has been achieved, which are further subdivided into specific types of fixes
(e.g. 2D, 3D, dead reckoning).
The ZED-F9P firmware does not support the dead reckoning position fix type.
Where a fix has been achieved, a check is made to determine whether the fix should be classified as
valid or not. A fix is only valid if it passes the navigation output filters as defined in CFG-NAVSPG-
OUTFIL. In particular, both PDOP and accuracy values must lie below the respective limits.
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