ZED-F9R-Integration manual
2 System description
2.1 Overview
The ZED-F9R module with the u-blox F9 multi-band GNSS receiver features rapid convergence
time within seconds. This mass-market component combines high precision positioning with
highest availability, while making use of all four GNSS constellations simultaneously. It is the first
sensor fusion module with an integrated inertial measurement unit (IMU) capable of high precision
positioning. The sophisticated built-in algorithms fuse the IMU data, GNSS measurements, wheel
ticks, and a dedicated dynamic model to provide accurate positioning where GNSS alone would fail.
The module operates under open sky, sidewalks, roads, in the wooded countryside, in difficult
multi-path environments, and even in tunnels and underground parking. For modern autonomous
robotic applications such as unmanned ground vehicles where control and availability are the keys
to success, ZED-F9R is the ultimate solution.
The device is a turnkey solution eliminating the technical risk of integrating third-party libraries,
precise positioning engines, and the multi-faceted hardware engineering aspects of radio frequency
design and digital design. The u-blox approach provides a transparent evaluation of the positioning
solution and clear lines of responsibility for design support while reducing supply chain complexity
during production.
ZED-F9R offers support for a range of correction services allowing each application to optimize
performance according to the application's unique needs. ZED-F9R comes with built-in support
for RTCM-formatted corrections, enabling high precision navigation using internet or satellite data
connectivity. From firmware version HPS 1.21 onwards, the product supports SSR-type correction
services suitable for mass-market deployment. Finally, the full set of RAW data from IMU sensors
and GNSS carriers are provided.
ZED-F9R modules use GNSS chips qualified according to AEC‑Q100 and are manufactured in ISO/
TS 16949 certified sites. Qualification tests are performed as stipulated in the ISO16750 standard.
The professional-grade ZED-F9R module adheres to industrial standard quality specifications and
production flow.
2.1.1 High precision sensor fusion (HPS)
High precision sensor fusion (HPS) provides high-accuracy positioning in locations with poor or no
GNSS coverage. HPS is based on sensor fusion dead reckoning (SFDR) technology, which combines
multi-constellation GNSS measurements with the ZED-F9R's internal 6-axis IMU and wheel tick or
speed.
ZED-F9R supports dynamic models that are also optimized for robotic lawn mower (RLM) and e-
scooter applications.
Robotic lawn mower (RLM) and e-scooter dynamics models are supported from firmware
version HPS 1.21 onwards
See the HPS section in this document for more information.
2.1.2 Priority navigation mode
Priority navigation mode 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.
UBX-20039643 - R06
2 System description Page 7 of 119
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