ZED-F9P-Integration manual
Status Description
OFF Antenna is off
ON Antenna is on
DONTKNOW Antenna power status is not known
Table 5: Antenna power status
3.1.5 RTK configuration
RTK technology introduces the concept of a base and a rover. In such a setup, the base sends
corrections (complying with the RTCM 3.3 protocol) to the rover via a communication link. This
enables the rover to compute its position relative to the base with high accuracy.
When operating as a rover, the ZED-F9P can receive RTCM 3.3 corrections from another ZED-F9P
operating as a base, or via NTRIP from a virtual reference service provider operating a network
of base receivers. In this mode, the receiver coordinates will be expressed in the datum used by
the RTCM correction provider. For more information on this topic please refer to the RTCM ITRF
Geodetic models section in the Appendix.
After describing the RTCM protocol and corresponding supported message types, this section
describes how to configure the ZED-F9P high precision receiver as a base or rover receiver. This
includes both the static base use case and the moving base use case.
See the ZED-F9P Moving Base application note [4] for more information on designing in, configuring
and using a moving base setup.
3.1.5.1 RTCM corrections
RTCM is a binary data protocol for communication of GNSS correction information. The ZED-F9P
high precision 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/output settings, see the configuration section in the u-blox ZED-F9P
Interface description [2].
Users should be aware of the datum used by the correction source. The rover position will provide
coordinates in the correction source reference frame. This may need to be taken into account when
using the RTK rover position. See the RTCM ITRF Geodetic models section in the Appendix for more
information.
3.1.5.2 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
RTCM 1005 Stationary RTK reference station ARP
RTCM 1006 Stationary RTK reference station ARP with antenna height
RTCM 1007 Antenna descriptor
RTCM 1009 L1-only GLONASS RTK observables
2
The terms base, base station, reference and reference station can be used interchangeably
UBX-18010802 - R08
3 Receiver functionality Page 15 of 110
Early production information
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