ZED-F9R - Application note
UBX-22035176 - R01 Contents Page 28 of 30
C1-Public
Figure 23: u-center UBX-RXM-COR showing RTCM message types being received
A.8 Dropping out of dead reckoning periodically
• Have the physical dimensions and orientation of the system changed? Has the equipment been
installed in the same position as before when it was working?
• Is the right dynamic model for the vehicle been selected?
• Is the kind of motion of your vehicle performs differ in some way from the dynamic model? Is the
speed too high? Is it banking on turns when it is not allowed?
• Are there INFORMATION messages in the log with warnings?
A.9 Troubleshooting checklist
Installation related:
• Is receiver mounted in a fixed position relative to the vehicle frame?
• Is the antenna mounted directly above the receiver’s IMU?
• Is the receiver’s IMU directly above the center of the rear axle?
• Is u-center able to read the version of firmware?
GNSS related:
• Are there more than 20 satellites visible under open sky?
• Are there many signals with a CNO level between 40 and 50 dB?
• Are all four constellations reporting signals?
• Are there two signals on many of the signals?
• Did the receiver get a position with 3D/DGNSS position fix?
RTK related:
• When the NTRIP/MQTT client is enabled, is there a constant stream of data being received?
• Does the receiver report a 3D/DGNSS/Fixed solution under open sky with a correction service in
less than 2 minutes?
Odometry data integration related:
• Is the odometry data meeting the specification for delay, loss and jitter?
• Is the highest possible baudrate being used to send odometry data?
• Does the u-center graph for UBX-ESF-MEAS graph show a relatively flat line when the vehicle is
travelling at a constant speed in a straight line other than when the counter overflows?
Sensor Fusion related:
• Is the dynamic model appropriate for the vehicle type?
• Are the geometries of the vehicle up such that the antenna, the receiver and the middle of rear axle
are relatively inline and within a few centimeters from each other?
• Have the various odometer configurations been double checked?
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