User Manual

ZED-F9P-Data Sheet
UBX-17051259 - R02

1 Functional description Page 4 of 24
Advance Information
1 Functional description
1.1 Overview
The ZED-F9P positioning module features the u-blox F9 receiver platform, which provides multi-
band GNSS to high volume industrial applications. The ZED-F9P has integrated u-blox multi-
band RTK technology for centimeter level accuracy. The module enables precise navigation and
automation of moving machinery in industrial and consumer grade products in a compact surface
mounted form factor.
1.2 Performance
Parameter Specification
Receiver type Multi-band GNSS high precision receiver
Accuracy of time pulse signal RMS
99%
30 ns
60 ns
Frequency of time pulse signal 0.25 Hz to 10 MHz
(configurable)
Operational limits
1
Dynamics
Altitude
Velocity
≤ 4 g
50,000m
500 m/s
Velocity accuracy
0.05 m/s
2
Dynamic heading accuracy
0.3 deg
2
GNSS
GPS+GLO+GAL
+BDS
GPS+GLO+GAL GPS+GAL GPS+GLO GPS+BDS GPS
Acquisition
3
Cold start
Hot Start
Aided Starts
4
24 s
2 s
2 s
25 s
2 s
2 s
29 s
2 s
2 s
26 s
2 s
2 s
28 s
2 s
2 s
29 s
2 s
2 s
Nav. update rate RTK
PVT
RAW
8 Hz
10 Hz
20 Hz
10 Hz
12 Hz
20 Hz
12 Hz
16 Hz
25 Hz
12 Hz
25 Hz
25 Hz
12 Hz
25 Hz
25 Hz
20 Hz
25 Hz
25 Hz
Convergence
time
5
RTK < 10 s < 10 s < 10 s < 10 s < 10 s < 30 s
Horizontal pos.
accuracy
RTK
5 6
0.01 m + 1 ppm
CEP
0.01 m + 1 ppm
CEP
0.01 m + 1
ppm CEP
0.01 m + 1
ppm CEP
0.01 m + 1
ppm CEP
0.01 m + 1
ppm CEP
Table 1: ZED-F9P performance in different GNSS modes
1
Assuming Airborne 4 g platform
2
50% @ 30 m/s for dynamic operation
3
All satellites at -130 dBm
4
Dependent on the speed and latency of the aiding data connection, commanded starts.
5
Depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and
geometry.
6
Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna
phase center offset errors. ppm limited to baselines up to 20 km.