ZED-F9R-Integration manual
See the Priority navigation mode section in this document for more information.
2.1.3 Correction services
u-blox ZED-F9R can use different types of correction services which broadly fall into two categories,
based either on an Observation State Representation (OSR) or a State Space Representation
(SSR) of the errors. These categories use different techniques, delivery mechanisms, and core
technologies to solve the same problem – the mitigation of key GNSS errors in order to enable high
precision GNSS:
1. OSR services provide GNSS observations from the nearest reference station (or virtual
reference station) to the rover. A communication link from reference station or virtual
reference station to the rover is needed. The data is dependent on the position of the rover.
2. SSR services rely on GNSS reference station network to model key errors (such as satellite or
atmospheric errors) over large geographical regions and provide corrections to the rover via
broadcast link such as internet or satellite L-band. All receivers receive the same data over a
large area.
In this document, the following terminology is used: RTK refers to OSR-based solution (using RTCM
corrections) while PPP-RTK refers to SSR-based solution (using SPARTN or CLAS corrections).
PPP-RTK technology is supported from firmware version HPS 1.21 onwards
2.1.4 Real time kinematic
u-blox ZED-F9R high precision sensor fusion receiver takes GNSS precision to the next level:
• Delivers accuracy down to the centimeter level: 0.01 m + 1 ppm CEP
• Fast time to first fix and robust performance with multi-band, multi-constellation reception
• Compatible with leading correction services for global coverage and versatility
UBX-20039643 - R06
2 System description Page 8 of 119
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