ZED-F9R-Integration manual
Phase Procedure Indicator of success
IMU initialization
After receiver cold start or first receiver use, turn
on car engine and stay stationary under good GNSS
signal reception conditions for at least 3 minutes.
IMU initialization status UBX-ESF-
STATUS.imuInitStatus shows
2:INITIALIZED.
INS initialization
(position and velocity)
Once IMU is initialized, stay stationary under good
GNSS signal reception conditions until a reliable
GNSS fix can be achieved.
GNSS 3D fix achieved, good 3D position
accuracy (at least 5 m), high number of
used satellites (check UBX-NAV-PVT
message).
IMU-mount alignment
initialization
Start driving at a minimum speed of 30 km/h and do
a series of approximately 10 left and right turns (at
least 90 degrees).
You can skip this step if automatic IMU-mount
alignment is turned off.
IMU-mount alignment status (UBX-
ESF-STATUS.mntAlgStatus) shows
2:INITIALIZED, the IMU-mount
alignment status UBX-ESF-ALG.status
shows 3:COARSE ALIGNED.
Wheel tick sensor
initialization
Drive for at least 500 meters at a minimum speed
of 30 km/h. To shorten this calibration step, drive
the car at a higher speed (around 50 km/h) for at
least 10 seconds under good GNSS visibility.
Wheel tick sensor initialization status
UBX-ESF-STATUS.wtInitStatus shows
2:INITIALIZED.
INS initialization
(attitude)
Drive straight for at least 100 meters at a
minimum speed of 40 km/h.
INS initialization status UBX-ESF-
STATUS.insInitStatus shows
2:INITIALIZED.
Table 12: Accelerated initialization procedure for automotive vehicles
Once initialization is completed, the UBX-ESF-STATUS.fusionMode field shows 1:FUSION,
combined GNSS/dead reckoning fixes (fused solutions) are output and the sensors used in the
navigation filter start calibrating. Calibration is a continuous process running in the background,
and it directly impacts the navigation solution quality.
You can shorten the calibration time required for reaching optimal HPS navigation performance by
following the procedure described in the table below.
Phase Procedure Indicator of success
IMU-mount alignment
calibration
Keep driving at a minimum speed of 30 km/h and
do a series of left and right turns (at least 90
degrees). At each turn the estimated IMU-mount
misalignment angles are refined and their accuracy
increased.
You can skip this step if automatic IMU-mount
alignment is turned off.
Once the IMU-mount alignment engine
has high confidence in its misalignment
angle estimates, the IMU-mount alignment
status UBX-ESF-ALG.status is set to
4:FINE ALIGNED.
IMU calibration
(gyroscope and
accelerometer)
Drive curves and straight segments for a few
minutes by including a few stops lasting at least
30 seconds each. This drive should also include
some periods with higher speed (at least 50 km/
h) and can typically be carried out on normal
open-sky roads with good GNSS signal reception
conditions.
The calibration status of the used sensors
UBX-ESF-STATUS.calibStatus shows
2/3:CALIBRATED.
Table 13: Accelerated calibration procedure for automotive vehicles
Table 14 describes how to perform fast initialization and calibration of the receiver, while using the
e-scooter dynamic model for evaluation purposes.
Phase Procedure Indicator of success
IMU initialization
After receiver cold start or first receiver use,
stay stationary under good GNSS signal reception
conditions for at least 3 minutes.
IMU initialization status UBX-ESF-
STATUS.imuInitStatus shows
2:INITIALIZED.
INS initialization
(position and velocity)
Once IMU is initialized, stay stationary under good
GNSS signal reception conditions until a reliable
GNSS fix can be achieved.
GNSS 3D fix achieved, good 3D position
accuracy (at least 5 m), high number of
used SVs (check UBX-NAV-PVT message).
UBX-20039643 - R06
3 Receiver functionality Page 33 of 119
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