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ZED-F9R-Integration manual

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UBX-20039643 - R06

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Page 119 of 119

C1-Public

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Table of Contents3
Integration Manual Overview6
System Description7
Overview7
High Precision Sensor Fusion (HPS)7
Priority Navigation Mode7
Correction Services8
Real Time Kinematic8
Architecture9
Block Diagram9
Receiver Functionality10
Receiver Configuration10
Changing the Receiver Configuration10
Default GNSS Configuration10
Default Interface Settings11
Basic Receiver Configuration11
RTCM Corrections13
SPARTN Corrections15
Multiple SPARTN Sources15
Encrypted SPARTN Support16
CLAS Corrections17
Navigation Configuration18
High Precision Sensor Fusion (HPS)20
Introduction20
HPS Dynamic Platform Models20
Solution Type23
Installation Configuration23
Sensor Configuration26
HPS System Configuration29
Operation30
Priority Navigation Mode39
Wake on Motion Feature41
Geofencing42
Introduction42
Interface43
Geofence State Evaluation43
Primary and Secondary Output43
Introduction43
Configuration44
Expected Output Behavior45
Example Use Cases45
Protection Level46
Introduction46
Interface46
Expected Behavior48
Communication Interfaces49
Uart50
I2C Interface51
SPI Interface54
USB Interface55
Predefined Pios56
D_Sel56
Reset_N56
Safeboot_N56
Timepulse57
Tx_Ready57
Extint57
WT and dir Inputs58
GEOFENCE_STAT Interface58
RTK_STAT Interface59
Antenna Supervisor59
Antenna Voltage Control - ANT_OFF60
Antenna Short Detection - ANT_SHORT_N61
Antenna Short Detection Auto Recovery61
Antenna Open Circuit Detection - ANT_DETECT62
Multiple GNSS Assistance (MGA)62
Authorization63
Preserving MGA and Operational Data During Power-Off63
Save-On-Shutdown Feature63
Advanced Calibration Handling64
Clocks and Time65
Receiver Local Time65
Navigation Epochs66
Itow Timestamps67
GNSS Times67
Time Validity67
UTC Representation68
Leap Seconds68
Real-Time Clock69
Date69
Time Pulse70
Time Mark73
Security74
Spoofing Detection / Monitoring75
Jamming Interference-Detection and Monitoring75
UBX-SEC-SIG Message Description75
UBX-SEC-SIGLOG Message Description76
GNSS Receiver Integrity76
U-Blox Protocol Feature Descriptions77
Broadcast Navigation Data77
Forcing a Receiver Reset84
Firmware Upload84
Design86
Pin Assignment86
Power Supply88
VCC: Main Supply Voltage88
V_BCKP: Backup Supply Voltage88
ZED-F9R Power Supply89
ZED-F9R Minimal Design89
WT and dir Interface Example90
Antenna91
Antenna Bias93
EOS/ESD Precautions95
ESD Protection Measures95
EOS Precautions96
Safety Precautions96
Electromagnetic Interference on I/O Lines96
General Notes on Interference Issues97
In-Band Interference Mitigation97
Out-Of-Band Interference98
Layout98
Placement98
Thermal Management98
Package Footprint, Copper and Paste Mask99
Layout Guidance100
Design Guidance102
General Considerations102
Backup Battery102
RF Front-End Circuit Options102
Antenna/Rf Input103
Ground Pads104
Schematic Design104
Layout Design-In Guideline104
Product Handling105
ESD Handling Precautions105
Soldering105
Tapes108
Reels109
Moisture Sensitivity Levels109
Appendix110
A Glossary110
B Reference Frames111
C RTK Configuration Procedures with U-Center111
Receiver Configuration with U-Center111
Related Documents117
Revision History118

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