u-blox ZED-F9T User Manual

ZED-F9T-Integration Manual
The desired RTCM messages must be selected and configured on UART1 rate 1:
• RTCM 1005 Stationary RTK reference station ARP
• RTCM 1077 GPS MSM7
• RTCM 1088 GLONASS MSM7
• RTCM 1097 Galileo MSM7
• RTCM 1127 BeiDou MSM7
• RTCM 1230 GLONASS code-phase biases
• RTCM 4072 Additional reference station information
The configuration messages for these are shown in the Table 10.
The following configuration items output the recommended messages for a default satellite
constellation setting. Note that these are given for the UART1 interface:
Configuration item Description
CFG-UART1OUTPROT-NMEA CFG-UART1OUTPROT-NMEA to 0
CFG-UART1OUTPROT-RTCM3X CFG-UART1OUTPROT-RTCM3X to 1
CFG-UART1OUTPROT-UBX CFG-UART1OUTPROT-UBX to 0
CFG-MSGOUT-
RTCM_3X_TYPE1005_UART1
CFG-UART1OUTPROT-RTCM3X to 1
CFG-MSGOUT-
RTCM_3X_TYPE1077_UART1
Output rate of the RTCM-3X-TYPE1077 message on port UART1: RTCM GPS
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1087_UART1
Output rate of the RTCM-3X-TYPE1087 message on port UART1: RTCM GLONASS
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1097_UART1
Output rate of the RTCM-3X-TYPE1097 message on port UART1: RTCM Galileo
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1127_UART1
Output rate of the RTCM-3X-TYPE1127 message on port UART1: RTCM Additional
reference station information
CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1
Output rate of the RTCM-3X-TYPE1230 message on port UART1: RTCM GLONASS
code-phase biases
CFG-MSGOUT-
RTCM_3X_TYPE4072_1_UART1
Output rate of the RTCM-3X-TYPE4072.1 message on port UART1: RTCM
Additional reference station information
Table 10: Configuration items used for setting a master reference station
3.1.5.6 Slave station
When the ZED-F9T acts as a slave receiver, it receives differential corrections RTCM 3.3 messages
from a master reference station and aligns its time pulse to it.
Connect the slave receiver to the reference server or to the NTRIP server. When the slave receives
the configured RTCM correction stream, it will automatically start using the corrections.
Reception of RTCM 4072.1 is required to start using differential correction data.
3.1.6 Legacy configuration interface compatibility
There is some backwards-compatibility for the legacy UBX-CFG configuration messages. It is
strongly recommended to adopt the new configuration interface, as the legacy configuration
messages support will be removed in the future.
See Legacy UBX-CFG Message Fields Reference section in the ZED-F9T Interface Description [2].
3.1.7 Navigation configuration
This section presents various configuration options related to the navigation engine. These options
can be configured through various configuration groups, such as CFG-NAVSPG-*, CFG-ODO-*, and
CFG-MOT-*.
UBX-19005590 - R01
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3 Receiver functionality Page 15 of 80
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u-blox ZED-F9T Specifications

General

Brand	u-blox
Model	ZED-F9T
Category	Control Unit
Language	English