Ublox ZED-F9R User Manual

ZED-F9R-Integration manual
Constellation key
CFG-SIGNAL-GPS_ENA
Band key
CFG-SIGNAL-GPS_L1CA_ENA
Band key
CFG-SIGNAL-GPS_L2C_ENA
Constellation
enabled?
false (0) false (0) false (0) no
false (0) false (0) true (1) no
false (0) true (1) false (0) no
false (0) true (1) true (1) no
true (1) false (0) false (0) no
true (1) false (0) true (1) Unsupported
combination
true (1) true (1) false (0)
yes
2
true (1) true (1) true (1) yes
Table 3: Example of possible values of configuration items for the GPS constellation
The GPS constellation can be disabled if the SBAS and QZSS system are also disabled at
the same time.
3.1.4.4 NMEA high precision mode
ZED-F9R supports NMEA high precision mode. This mode increases the reported precision of the
position output; latitude and longitude will have seven digits after the decimal point, and altitude
will have three digits after the decimal point. By default it is not enabled since it violates the NMEA
standard. NMEA high precision mode cannot be used while in NMEA compatibility mode or when
NMEA output is limited to 82 characters. See configuration item CFG-NMEA-HIGHPREC in the
applicable interface description [2] for more details.
NMEA high precision mode is disabled by default meaning that the default NMEA output
will be insufficient to report a high precision position.
3.1.5 RTCM corrections
RTCM is a binary data protocol for communication of GNSS correction information. The ZED-F9R
high precision sensor fusion receiver supports RTCM as specified by RTCM 10403.3, Differential
GNSS (Global Navigation Satellite Systems) Services – Version 3 (October 7, 2016).
The RTCM specification is currently at version 3.3 and RTCM version 2 messages are not supported
by this standard.
To modify the RTCM input settings, see the configuration section in the applicable interface
description [2].
Users need to be aware of the datum used by the correction source. The receiver position will
provide coordinates in the correction source reference frame. This may need to be taken into account
when using the RTK-derived position. See the Reference frames section in the Appendix for more
information.
3.1.5.1 List of supported RTCM input messages
Message type Description
RTCM 1001 L1-only GPS RTK observables
RTCM 1002 Extended L1-only GPS RTK observables
RTCM 1003 L1/L2 GPS RTK observables
RTCM 1004 Extended L1/L2 GPS RTK observables
2
The combination works only when GPS L2, GAL E5B, BDS B2, QZSS L2C, and GLO L2 are disabled at the same time.
UBX-20039643 - R06
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3 Receiver functionality Page 13 of 119
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Ublox ZED-F9R Specifications

General

Brand	Ublox
Model	ZED-F9R
Category	Receiver
Language	English