Manual
Table Of Contents
- Title
- Contents
- 1 Integration manual structure
- 2 System description
- 3 Receiver functionality
- 3.1 Receiver configuration
- 3.1.1 Changing the receiver configuration
- 3.1.2 Default GNSS configuration
- 3.1.3 Default interface settings
- 3.1.4 Basic receiver configuration
- 3.1.5 Differential timing mode configuration
- 3.1.6 Legacy configuration interface compatibility
- 3.1.7 Navigation configuration
- 3.2 Geofencing
- 3.3 Logging
- 3.4 Communication interfaces
- 3.5 Predefined PIOs
- 3.6 Antenna supervisor
- 3.7 Multiple GNSS assistance (MGA)
- 3.8 Clocks and time
- 3.9 Timing functionality
- 3.10 Security
- 3.11 u-blox protocol feature descriptions
- 3.12 Forcing a receiver reset
- 3.13 Firmware upload
- 3.1 Receiver configuration
- 4 Design
- 5 Product handling
- Appendix
- Related documents
- Revision history
- Contact
ZED-F9T-Integration manual
For high precision (mm) coordinates use CFG-TMODEECEF_X_HP, CFG-TMODE-ECEF_Y_HP, CFG-
TMODE-ECEF_Z_HP. The same applies with corresponding coordinates used with CFG-TMODE-
POS_TYPE=LLH.
If the timing receiver is moved during operation then new position coordinates must be
configured.
3.1.5.5 Master reference station
When the ZED-F9T high accuracy timing receiver acts as a master timing station, it sends RTCM
3.3 differential corrections to slave receivers. Corrections are generated after a timing fix calculation
in order to remove the master receiver's clock offset.
3.1.5.5.1 Master reference station: RTCM output configuration
At this point the timing receiver should report a TIME fix, not a 3D fix.
The desired RTCM messages must be selected and configured on UART1 rate 1:
• RTCM 1005 Stationary RTK reference station ARP
• RTCM 1077 GPS MSM7
• RTCM 1088 GLONASS MSM7
• RTCM 1097 Galileo MSM7
• RTCM 1127 BeiDou MSM7
• RTCM 1230 GLONASS code-phase biases
• RTCM 4072.1 Additional reference station information
The configuration messages for these are shown in the Table 9.
The following configuration items output the recommended messages for a default satellite
constellation setting. Note that these are given for the UART1 interface:
Configuration item Description
CFG-UART1OUTPROT-NMEA CFG-UART1OUTPROT-NMEA to 0
CFG-UART1OUTPROT-RTCM3X CFG-UART1OUTPROT-RTCM3X to 1
CFG-UART1OUTPROT-UBX CFG-UART1OUTPROT-UBX to 0
CFG-MSGOUT-
RTCM_3X_TYPE1005_UART1
Output rate of the RTCM-3X-TYPE1005 message on port UART1: RTCM base
station message
CFG-MSGOUT-
RTCM_3X_TYPE1077_UART1
Output rate of the RTCM-3X-TYPE1077 message on port UART1: RTCM GPS
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1087_UART1
Output rate of the RTCM-3X-TYPE1087 message on port UART1: RTCM GLONASS
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1097_UART1
Output rate of the RTCM-3X-TYPE1097 message on port UART1: RTCM Galileo
MSM7
CFG-MSGOUT-
RTCM_3X_TYPE1127_UART1
Output rate of the RTCM-3X-TYPE1127 message on port UART1: RTCM Additional
reference station information
CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1
Output rate of the RTCM-3X-TYPE1230 message on port UART1: RTCM GLONASS
code-phase biases
CFG-MSGOUT-
RTCM_3X_TYPE4072_1_UART1
Output rate of the RTCM-3X-TYPE4072.1 message on port UART1: RTCM
Additional reference station information
Table 9: Configuration items used for setting a master reference station
3.1.5.6 Slave station
When the ZED-F9T acts as a slave receiver, it receives differential corrections RTCM 3.3 messages
from a master reference station and aligns its time pulse to it.
UBX-19005590 - R05
3 Receiver functionality Page 15 of 87
C1-Public Early production information