Ublox ZED-F9R User Manual

ZED-F9R-Integration manual
3.2.8.1 Introduction
ZED-F9R provides a low-latency position, velocity, and vehicle attitude solution to be output at
a high rate by utilizing sensor-based propagation in between GNSS-measurement updates, thus
prioritizing the time-critical data.
The receiver issues priority navigation messages first, and non-priority navigation messages when
time allows it. The non-priority messages might, therefore, be output with some delay.
The following tables list priority navigation messages.
UBX protocol message Content Priority
level
Output rate
UBX-NAV-PVT Position, velocity, heading and time data High 0-30 Hz (Configurable)
UBX-NAV-PVAT
3
Position, velocity, attitude and time data High 0-30 Hz (Configurable)
UBX-NAV-HPPOSECEF High-precision position solution in ECEF High 0-30 Hz (Configurable)
UBX-NAV-POSECEF Position solution in ECEF High 0-30 Hz (Configurable)
UBX-NAV-HPPOSLLH High-precision geodetic position solution High 0-30 Hz (Configurable)
UBX-NAV-POSLLH Geodetic position solution High 0-30 Hz (Configurable)
UBX-NAV-ATT Attitude data High 0-30 Hz (Configurable)
UBX-ESF-INS INS data High 0-30 Hz (Configurable)
UBX-NAV-VELECEF ECEF velocities High 0-30 Hz (Configurable)
UBX-NAV-VELNED NED velocities High 0-30 Hz (Configurable)
Table 16: UBX priority navigation messages
NMEA protocol message Content Priority
level
Output rate
NMEA-Standard-DTM Datum info High 0-30 Hz (Configurable)
NMEA-Standard-RMC Recommended minimum data High 0-30 Hz (Configurable)
NMEA-Standard-VTG Course over ground and ground speed High 0-30 Hz (Configurable)
NMEA-Standard-GNS GNSS fix data High 0-30 Hz (Configurable)
NMEA-Standard-GGA Global positioning system fix data High 0-30 Hz (Configurable)
NMEA-Standard-GLL Latitude and longitude, with time of position
fix and status
High 0-30 Hz (Configurable)
NMEA-Standard-THS True heading and status High 0-30 Hz (Configurable)
NMEA-PUBX-POSITION Latitude and longitude position data High 0-30 Hz (Configurable)
Table 17: NMEA priority navigation messages
The ZED-F9R requires an initialization phase if the sensors have not been calibrated. During
this initialization, the receiver delivers GNSS-only navigation solution data, still ensuring
high-rate and low-latency output. The ZED-F9R works optimally in priority navigation mode
when the IMU and WT sensors have been calibrated, and the alignment angles are correct.
If priority navigation mode is enabled, comparing time information of a non-priority UBX
message with a priority NMEA message may not be sensible (see the iTOW timestamps
section). Thus, it is recommended to compare messages with the same priority level. For
instance, comparing the time information of a non-priority UBX message with a non-priority
NMEA message (such as NMEA-Standard-ZDA).
When switching back from priority mode to non-priority mode, the TOW could jump back in
time, similarly, switching from non-priority to priority mode may cause TOW to jump ahead
in time.
3
Supported from firmware version HPS 1.21 onwards
UBX-20039643 - R06
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3 Receiver functionality Page 40 of 119
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Ublox ZED-F9R Specifications

General

Brand	Ublox
Model	ZED-F9R
Category	Receiver
Language	English