Recommended config

Rover

GNSS

• GPS: L1+L2
• SBAS: L1
• Galileo: E1+E2
• GLONASS: L1+L2 (G1+G2)
• QZSS: L1+L2

BeiDou (BDS) not yet considered.

For more see Navipedia GNSS signals for GNSS signal overview.

Nav 5

• Dynamic model: 8 - Airborne < 4g
• Fix mode: 3 - Auto
• UTC: 3 USNO (GPS)
• Min SV Elevation: 20 [deg]
• C/N0: 4 [#SV], 20 [dbHZ]

Ports (in/out)

• 0-I2C: None / None
• 1-UART1 (921600): 0-UBX / 0-UBX
• 2-UART2 (38400): 5-RTCM3 / 1-NMEA
• 3-USB: 0+1+5 UBX+NMEA+RTCM3 / 0+1+5 UBX+NMEA+RTCM3
• 4-SPI: None / None

Rate:

• Time source: 1 - GPS time
• Meas. period: 1000 [ms]
• Meas. freq: 1 [Hz]
• Nav. rate: 1 [cyc]
• Nav. freq: 1 [Hz]

SBAS

• Enabled: Yes
• Use ranging: Yes
• Apply SBAS Correction data: Yes
• Search channels: 2
• PRN: 123+136

TP

• Pulse mode: +1 - rising edge
• Pulse period: 1000 [ms)
• Pulse length: 100 [ms)
• Time Source: 1 - GPS time
• Cable Delay: 820 [ns]

TP5:

• Align Pulse to TOW=0: Yes
• 1 - GPS Time
• Rising Edge in TOS 1
• Delay 0 [ns]
• Cable Delay: 50 [ns)

NMEA

• GNZDA (if needed for NTP server or similar)

RTCM

• N/A

UBX-MON

• UBX-MON-HW (jamming indicator)
• UBM-MON-IO (only USB for monitoring)

UBX-NAV

• UBX-NAV-COV (position and velocity covariances)
• UBX-NAV-DOP (satellite geometry data, will be discontinued, UBX-NAV-COV better)
• UBX-NAV-HPPOSECEF (high-accuracy ECEF position information in case of RTK, if not RTK use UBX-NAV-PVT for position data)
• UBX-NAV-PVT (full position and accuracy time information)
• UBX-NAV-RELPOSNED (relative position from base (heading information for rover in MB base applications))
• UBX-NAV-SBAS (useful for post-processing in RTKlib and similar SW)
• UBX-NAV-STATUS (detailed navigation status, fix, differential solution, spoofing indicator etc.)

UBX-RXM

• UBX-RXM-RAWX (contains raw GNSS observables, only if raw data is needed for custom navigation or post processing)
• UBX-RXM-SFRBX (contains GNSS satellite ephemeris data for satellite position and velocity calculations, only if raw data is needed for custom navigation or post processing)
• UBX-RXM-RTCM (USB only for monitoring of incoming RTCM messages)

Moving base (MB) Config

GNSS

• GPS: L1+L2
• SBAS: L1
• Galileo: E1+E2
• GLONASS: L1+L2 (G1+G2)
• QZSS: L1+L2

BeiDou (BDS) not yet considered.

For more see Navipedia GNSS signals for GNSS signal overview.

Nav 5

• Dynamic model: 8 - Airborne < 4g
• Fix mode: 3 - Auto
• UTC: 3 USNO (GPS)
• Min SV Elevation: 15 [deg]
• C/N0: 4 [#SV], 20 [dbHZ]

Ports (in/out)

• 0-I2C: None / None
• 1-UART1 (921600): 0-UBX / 0-UBX
• 2-UART2 (38400): 5-RTCM3 / 5-RTCM3
• 3-USB: 0+1+5 UBX+NMEA+RTCM3 / 0+1+5 UBX+NMEA+RTCM3
• 4-SPI: None / None

Rate:

• Time source: 1 - GPS time
• Meas. period: 1000 [ms]
• Meas. freq: 1 [Hz]
• Nav. rate: 1 [cyc]
• Nav. freq: 1 [Hz]

SBAS

• Enabled: Yes
• Use ranging: Yes
• Apply SBAS Correction data: Yes
• Search channels: 2
• PRN: 123+136

TP

• Pulse mode: +1 - rising edge
• Pulse period: 1000 [ms]
• Pulse length: 100 [ms]
• Time Source: 1 - GPS time
• Cable Delay: 820 [ns]

TP5:

• Align Pulse to TOW=0: Yes
• 1 - GPS Time
• Rising Edge in TOS 1
• Delay 0 [ns]
• Cable Delay: 50 [ns]

NMEA

• N/A

RTCM (bandwidth limitations)

The moving base algorithm was optimized for HPG 1.13.

• RTCM 4072.1 is no longer needed
• RTCM MSM7 messages can be replaced by RTCM MSM4 messages

Both setting will help reduce serial communication and RF link load.

Recommended list of RTCM messages is:

• RTCM 4072.0: Reference station PVT information
• RTCM 1074: GPS MSM4
• RTCM 1084: GLONASS MSM4
• RTCM 1094: Galileo MSM4
• RTCM 1124: BeiDou MSM4 (not used)
• RTCM 1230: GLONASS code-phase biases
• By default the ZED-F9P UART2 is assigned a baud rate of 38400 baud. This will need to be increased for navigation rates above 1 Hz.

RTCM

If non RF link or serial bandwidth issues on 1 Hz navigation rate: Using MSM7 messages

• RTCM 4072.1 is no longer needed
• RTCM MSM7 messages can be replaced by RTCM MSM4 messages

Both setting will help reduce serial communication and RF link load.

Recommended list of RTCM messages is:

• RTCM 4072.0: Reference station PVT information
• RTCM 1077: GLONASS MSM7
• RTCM 1087: GPS MSM7
• RTCM 1097: Galileo MSM7
• RTCM 1127: BeiDou MSM7 (not used)
• RTCM 1230: GLONASS code-phase biases
• For the UART2 interface a speed of 460800 baud is ideal.
• Minimum baud rate is 38400 baud for a 1 Hz navigation rate application
• 60800 baud is recommended for a 8 Hz navigation rate application (usually limit the radio technology that can be used as the gross data rate will need to be considerably higher to transfer data forwards and backwards).

NB: The correction stream should only contain one type of observation messages per constellation!

UBX-MON

• UBX-MON-HW (jamming indicator)
• UBM-MON-IO (only USB for monitoring)

UBX-NAV

• UBX-NAV-COV (position and velocity covariances)
• UBX-NAV-DOP (satellite geometry data, will be discontinued, UBX-NAV-COV better)
• UBX-NAV-HPPOSECEF (high-accuracy ECEF position information in case of RTK, if not RTK use UBX-NAV-PVT for position data)
• UBX-NAV-PVT (full position and accuracy time information)
• UBX-NAV-RELPOSNED (relative position from fixed base (relative position if moving base also functions as rover for fixed-base, if not this can be disabled))
• UBX-NAV-SBAS (useful for post-processing in RTKlib and similar SW)
• UBX-NAV-STATUS (detailed navigation status, fix, differential solution, spoofing indicator etc.)

UBX-RXM

• UBX-RXM-RAWX (contains raw GNSS observables, only if raw data is needed for custom navigation or post processing)
• UBX-RXM-SFRBX (contains GNSS satellite ephemeris data for satellite position and velocity calculations, only if raw data is needed for custom navigation or post processing)

Fixed base (FB) config

GNSS

• GPS: L1+L2
• SBAS: L1
• Galileo: E1+E2
• GLONASS: L1+L2 (G1+G2)
• QZSS: L1+L2

BeiDou (BDS) not yet considered.

For more see Navipedia GNSS signals for GNSS signal overview.

Nav 5

• Dynamic mode: 2 - Stationary
• Fix mode: 3 - Auto
• UTC: 3 USNO (GPS)
• Min SV Elevation: 15 [deg]
• C/N0: 4 [#SV], 20 [dbHZ]

Ports (in/out)

• 0-I2C: None / None
• 1-UART1 (921600): None / 0-UBX
• 2-UART2 (38400): None / 5-RTCM3
• 3-USB: 0+1+5 UBX+NMEA+RTCM3 / 0+1+5 UBX+NMEA+RTCM3
• 4-SPI: None / None

Rate:

• Time source: 1 - GPS time
• Meas. period: 1000 [ms]
• Meas. freq: 1 [Hz]
• Nav. rate: 1 [cyc]
• Nav. freq: 1 [Hz]

SBAS

• Enabled: Yes
• Use ranging: Yes
• Apply SBAS Correction data: Yes
• Search channels: 2
• PRN: 123+136

TP

• Pulse mode: +1 - rising edge
• Pulse period: 1000 [ms]
• Pulse length: 100 [ms]
• Time Source: 1 - GPS time
• Cable Delay: 820 [ns]

TP5:

• Align Pulse to TOW=0: Yes
• 1 - GPS Time
• Rising Edge in TOS 1
• Delay 0 [ns]
• Cable Delay: 50 [ns]

TMODE3

• 1 survey-in: (Set Minimum observation time and Requirement accuracy. Not recommended, but use if surveying of base is not possible. Not given that Requirement accuracy can be met. Remember to use 2 - Stationary Mode in Nav5)
• 2 fixed-mode: (Set ECEF/LatLonHei position of base and accuracy. Recommended, but accuracy is very important. Use with care.)

NMEA

• N/A

RTCM

The recommended list of RTCM messages for a fixed base

• RTCM 1005: Stationary RTK reference station ARP
• RTCM1074: GPS MSM4
• RTCM 1084: GLONASS MSM4
• RTCM 1094: Galileo MSM4
• RTCM 1124: BeiDou MSM4 (not used)
• RTCM 1230: GLONASS code-phase biases

NB: The correction stream should only contain one type of observation messages per constellation!

UBX-MON

• UBX-MON-HW (jamming indicator)
• UBM-MON-IO (only USB for monitoring)

UBX-NAV

• UBX-NAV-PVT (full position and accuracy time information)
• UBX-NAV-SBAS (useful for post-processing in RTKlib and similar SW)
• UBX-NAV-STATUS (detailed navigation status, fix, differential solution, spoofing indicator etc.)

UBX-RXM

• UBX-RXM-RAWX (contains raw GNSS observables, only if raw data is needed for custom navigation or post processing)
• UBX-RXM-SFRBX (contains GNSS satellite ephemeris data for satellite position and velocity calculations, only if raw data is needed for custom navigation or post processing)