Release Note

Contents

• General information ... 1
• 1.1 Scope ... 1
• 1.2 Related documentation ... 1
• Released firmware image ... 2
• 2.1 Related software ... 2
• Firmware description ... 2
• 3.1 Supported GNSS constellations and signals ... 2
• 3.2 High precision GNSS features ... 2
• 3.3 HPS features ... 2
• 3.4 Message interface ... 3
• 3.4.1 NMEA protocol ... 3
• 3.4.2 UBX protocol ... 3
• 3.4.3 Supported RTCM messages ... 3
• 3.5 Known limitations ... 4
• 3.5.1 Firmware known limitations ... 4
• Revision history ... 4

1 General information

1.1 Scope

This release note applies to ZED-F9R-00B modules with firmware HPS 1.00 at the Engineering Sample (ES) stage. Both hardware (HW) and firmware (FW) are in ES phase and should only be used for testing purposes. Neither HW nor FW can be used for production or qualification purposes.

1.2 Related documentation

• [1] u-blox ZED-F9R Interface Description, UBX-19056428 (under NDA only)
• [2] u-blox ZED-F9R Integration Manual, UBX-19055736 (under NDA only)
• [3] u-blox ZED-F9R Data Sheet - UBX-19054459 (under NDA only)

2 Released firmware image

Released firmware image for u-blox ZED-F9R:

• File: JUJU_ROX_100_HPS100.f3e9af7d46f4e2f6c89232a64f9e1304.bin
• Firmware version: EXT CORE 1.00 (500086), FWVER=HPS 1.00
• ROM base support: ROM 1.02 - ROM BASE 0x118B2060

2.1 Related software

Version 19.08 (or later) of u-center GNSS evaluation software is recommended for use with the released firmware. Please contact FAE if this version is not available on the official web site. Version 19.03 of the firmware update tool supports this release.

3 Firmware description

This section highlights selected features supported by this firmware.

• The firmware image contains multi-band (L1/L2) RTK rover using all major GNSS constellations including Automotive Dead Reckoning (ADR) capabilities.
• HPS (high precision sensor fusion) uses the built-in 3-axis accelerometer, 3-axis gyroscope and wheel tick and direction signal to augment GNSS position solution.

3.1 Supported GNSS constellations and signals

• GPS: L1C/A, L2C
• GLONASS: L1OF, L2OF
• Galileo: E1B/C, E5b
• BeiDou: B1I, B2I
• QZSS: L1C/A, L2C

B2ID2 Geostationary Space Vehicles ID 1 to 5 are not supported.

3.2 High precision GNSS features

• Decimeter-level position accuracy
• RTK Rover receiver features:
  • High precision RTK fixed navigation using multi-band, multi-constellation GNSS.
  • High precision RTK float-only mode.
  • RTCM input support, supporting local base stations (e.g. another ZED-F9P module operating as the reference receiver) or network RTK, VRS.

3.3 HPS features

• 50 Hz sampling of IMU sensor readings lead to improved robustness.
• Sensor fusion capable of operating with intermittent outages in wheel tick and direction signals and fall back to untethered dead reckoning mode.
• Fast re-convergence to RTK fix mode.
• Priority navigation mode at up to 30 Hz with a latency of 15 ms.
• Non-priority navigation mode at up to 5 Hz with 2 constellations.
• GNSS RAW carrier data are provided.

3.4 Message interface

The message interface is described in the u-blox ZED-F9R Interface Description [1]. The released firmware supports the protocol version 33.00.

3.4.1 NMEA protocol

The default NMEA version is 4.1. Alternatively, versions 4.0, 2.3, and 2.1 are available.

• NMEA-GSV (GNSS satellite in view) includes signal ID information.
• NMEA-GRS (GNSS range residuals) includes signal ID information.
• NMEA-GBS (GNSS satellite fault detection) includes information about signal ID.

Note that NMEA 4.1 adds fields to these messages (system and signal IDs) and these fields may be empty if NMEA does not define a value for a given signal.

3.4.2 UBX protocol

Compared to other products in the F9 platform, the ZED-F9R relies extensively on the configuration interface using the UBX-CFG-VALSET, UBX-CFG_VALGET and UBX-CFG-VALDEL. Although some undocumented legacy UBX-CFG-* messages are functional, users are strongly discouraged from using these deprecated messages.

3.4.2.1 UBX sensor fusion messages

• UBX-ESF-ALG
• UBX-ESF-INS
• UBX-ESF-MEAS
• UBX-ESF-RAW
• UBX-ESF-RESETALG
• UBX-ESF-STATUS
• UBX-NAV-ATT

3.4.2.2 New UBX messages compared to M8 protocol specification

• UBX-CFG-VALSET
• UBX-CFG-VALGET
• UBX-CFG-VALDEL
• UBX-MON-TEMP
• UBX-NAV-SIG
• UBX-SEC-ECSIGN
• UBX-UPD-POS
• UBX-MON-COMMS
• UBX-MON-HW3

3.4.2.3 Updated UBX messages compared to M8 protocol specification

• UBX-NAV-SAT

3.4.3 Supported RTCM messages

The receiver supports RTCM 10403.3 with details below.

3.4.3.1 Supported RTCM input messages

3.5 Known limitations

3.5.1 Firmware known limitations

• UBX-ESF-MEAS output messages rate deviates from 50 Hz. Host application using a buffered architecture is recommended.
• Odometer output is inaccurate and should not be used.
• The hardware is in development phase and should only be used for testing purposes. It must not be used for production or qualification purposes.
• NMEA GxGSV and GxGRS may output incorrect NMEA signal ID when multiple signals are available in a single band.
• SBAS functionality is disabled and will not be supported with this release.

4 Revision history