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ZED-F9K
Ublox ZED-F9K User Manual
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ZED
-F9K-Integr
ation manual
F
igure 6: V
ehicle attitude output
The
or
der
of
the
sequence
of
rotations
around
the
navigation
axes
defining
the
vehicle
attitude
matrix in terms of vehicle attitude angles is illustr
ated below:
UBX-20046189 - R01
3 Receiver functionality
P
age 29 of 105
C1-Public
E
arly production information
28
30
Table of Contents
Default Chapter
3
Table of Contents
3
1 Integration Manual Structure
6
2 System Description
7
Overview
7
Automotive Dead Reckoning (ADR)
7
Priority Navigation Mode
8
Real Time Kinematic
8
Architecture
8
Block Diagram
8
3 Receiver Functionality
9
Receiver Configuration
9
Changing the Receiver Configuration
9
Default GNSS Configuration
9
Default Interface Settings
10
Basic Receiver Configuration
10
RTCM Corrections
12
Navigation Configuration
13
Automotive Dead Reckoning (ADR)
15
Introduction
15
Solution Type
16
Installation Configuration
16
Sensor Configuration
19
ADR System Configuration
22
Operation
22
Priority Navigation Mode
31
Geofencing
33
Introduction
33
Interface
33
Geofence State Evaluation
33
Communication Interfaces
34
Uart
35
I2C Interface
36
SPI Interface
39
USB Interface
40
Predefined Pios
41
D_Sel
41
Reset_N
41
Safeboot_N
41
Timepulse
42
Tx_Ready
42
Extint
43
WT and dir Inputs
43
GEOFENCE_STAT Interface
43
RTK_STAT Interface
44
Antenna Supervisor
44
Antenna Voltage Control - ANT_OFF
45
Antenna Short Detection - ANT_SHORT_N
46
Antenna Short Detection Auto Recovery
46
Antenna Open Circuit Detection - ANT_DETECT
47
Multiple GNSS Assistance (MGA)
47
Authorization
48
Multiple Servers
48
Preserving Information During Power-Off
48
Assistnow Online
48
Save-On-Shutdown Feature
52
Clocks and Time
53
Receiver Local Time
53
Navigation Epochs
53
Itow Timestamps
54
GNSS Times
54
Time Validity
54
UTC Representation
55
Leap Seconds
56
Real-Time Clock
56
Date
56
Time Pulse
57
Timemark
60
Security
61
Spoofing Detection / Monitoring
61
Jamming/Interference Indicator
62
GNSS Receiver Integrity
63
U-Blox Protocol Feature Descriptions
63
Broadcast Navigation Data
63
Forcing a Receiver Reset
71
Firmware Upload
71
4 Design
72
Pin Assignment
72
Power Supply
74
VCC: Main Supply Voltage
74
V_BCKP: Backup Supply Voltage
74
ZED-F9K Power Supply
75
ZED-F9K Minimal Design
75
WT and dir Interface Example
76
Antenna
77
Antenna Bias
79
EOS/ESD Precautions
81
ESD Protection Measures
81
EOS Precautions
82
Safety Precautions
82
Electromagnetic Interference on I/O Lines
82
General Notes on Interference Issues
83
In-Band Interference Mitigation
83
Out-Of-Band Interference
84
Layout
84
Placement
84
Thermal Management
84
Package Footprint, Copper and Paste Mask
85
Layout Guidance
86
Design Guidance
88
General Considerations
88
Backup Battery
88
RF Front-End Circuit Options
88
Antenna/Rf Input
89
Ground Pads
90
Schematic Design
90
Layout Design-In Guideline
90
5 Product Handling
91
ESD Handling Precautions
91
Soldering
91
Tapes
94
Reels
95
Moisture Sensitivity Levels
95
Appendix
96
A Glossary
96
B Reference Frames
97
C RTK Configuration Procedures with U-Center
97
Receiver Configuration with U-Center
97
Related Documents
103
Revision History
104
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Ublox ZED-F9K Specifications
General
Brand
Ublox
Model
ZED-F9K
Category
Control Unit
Language
English
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