ZED-F9R - Application note
UBX-22035176 - R01 Contents Page 21 of 30
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6.2.1 Dynamic platform model
ZED-F9R supports different dynamic platform models to adjust the high-precision sensor fusion
navigation engine to the expected application, that is, a vehicle and its expected operation
environment. It is important to select the correct model to ensure that the sensor fusion works as
expected. Refer to chapter 3.2.2 of the ZED-F9R Integration manual [1] for more information about
the dynamic models.
The following dynamic models are available:
• Automotive
o For applications with equivalent dynamics to those of a passenger car
o Configured with CFG-NAVSPG-DYNMODEL = 4
• Robotic lawn mower (RLM)
o For applications with equivalent dynamics to those of a robotic lawn mower
o Configured with CFG-NAVSPG-DYNMODEL = 11
• E-scooter
o For applications with equivalent dynamics to those of an e-scooter or a bicycle
o Configured with CFG-NAVSPG-DYNMODEL = 12
Select the correct model for the application and apply the configuration in u-center.
6.2.2 IMU-mount alignment
The receiver needs to know its orientation relative to the vehicle to perform sensor fusion. There are
two ways for the receiver to have this information:
• Automatic IMU-mount alignment
• User-defined IMU-mount alignment
Automatic IMU-mount alignment allows the receiver to estimate the roll, pitch and yaw angles based
on the vehicle’s movements. This mode is only available when using the automotive dynamic model.
To enable automatic alignment, set the configuration item CFG-SFIMU-AUTO_MNTALG_ENA to 1.
Using user-defined IMU-mount alignment is mandatory when using the robotic lawn mower and e-
scooter dynamic models. It may also be used when using the automotive dynamic model. To configure
the receiver to use the user-defined IMU-mount alignment, set the following configuration items:
• Disable automatic alignment by setting CFG-SFIMU-AUTO_MNTALG_ENA to 0
• Set the yaw angle with CFG-SFIMU-IMU_MNTALG_YAW
• Set the pitch angle with CFG-SFIMU-IMU_MNTALG_PITCH
• Set the roll angle with CFG-SFIMU-IMU_MNTALG_ROLL
Consult chapter 3.2.3 of the ZED-F9R Integration manual [1] on how to determine the individual
angles. It can also be beneficial to use tools like [3] to help determine and visualize the Euler angles in
the setup. Determining the angles can be complicated, but it needs to be done carefully to ensure
proper navigation performance.
If the installation is changed, the user-defined IMU-mount alignment angles must be reconfigured to
match the new installation.
6.2.3 Setting up odometer configuration
The odometer configuration depends on both
• The type of odometer data used in the setup, and
• The dynamic platform model.
Follow these steps to properly configure the receiver:
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