ZED-F9P-04B
u-blox F9 high precision GNSS module
Data sheet
Abstract
This data sheet describes the ZED-F9P high precision module with multiband GNSS receiver. The module provides multi-band RTK with fast
convergence times, reliable performance and easy integration of RTK
for fast time-to-market. It has a high update rate for highly dynamic
applications and centimeter-level accuracy in a small and energy-efficient
module.
www.u-blox.com
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ZED-F9P-04B - Data sheet
Document information
Title
ZED-F9P-04B
Subtitle
u-blox F9 high precision GNSS module
Document type
Data sheet
Document number
UBX-21044850
Revision and date
R02
Disclosure restriction
C1-Public
03-May-2022
Product status
Corresponding content status
In development /
prototype
Objective specification
Target values. Revised and supplementary data will be published later.
Engineering sample
Advance information
Data based on early testing. Revised and supplementary data will be
published later.
Initial production
Early production information
Data from product verification. Revised and supplementary data may be
published later.
Mass production /
End of life
Production information
Document contains the final product specification.
This document applies to the following products:
Product name
Type number
FW version
IN/PCN reference
Product status
ZED-F9P
ZED-F9P-04B-01
HPG 1.32
UBX-22010309
Initial production
u-blox or third parties may hold intellectual property rights in the products, names, logos and designs included in this
document. Copying, reproduction, modification or disclosure to third parties of this document or any part thereof is only
permitted with the express written permission of u-blox.
The information contained herein is provided "as is" and u-blox assumes no liability for its use. No warranty, either express
or implied, is given, including but not limited to, with respect to the accuracy, correctness, reliability and fitness for a
particular purpose of the information. This document may be revised by u-blox at any time without notice. For the most recent
documents, visit www.u-blox.com.
Copyright © 2022, u-blox AG.
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Contents
1 Functional description......................................................................................................... 4
1.1 Overview.................................................................................................................................................... 4
1.2 Performance............................................................................................................................................. 4
1.3 Supported GNSS constellations.......................................................................................................... 6
1.4 Supported GNSS augmentation systems......................................................................................... 7
1.4.1 Quasi-Zenith Satellite System (QZSS)...................................................................................... 7
1.4.2 Satellite based augmentation system (SBAS)........................................................................ 7
1.4.3 Differential GNSS (DGNSS).......................................................................................................... 7
1.4.4 Centimeter level augmentation service (CLAS).......................................................................8
1.5 Broadcast navigation data and satellite signal measurements................................................... 9
1.5.1 Carrier-phase measurements......................................................................................................9
1.6 Supported protocols............................................................................................................................... 9
2 System description............................................................................................................ 10
2.1 Block diagram........................................................................................................................................ 10
3 Pin definition.........................................................................................................................11
3.1 Pin assignment......................................................................................................................................11
3.2 Pin states................................................................................................................................................13
4 Electrical specification...................................................................................................... 14
4.1 Absolute maximum ratings................................................................................................................ 14
4.2 Operating conditions............................................................................................................................14
4.3 Indicative power requirements...........................................................................................................15
5 Communications interfaces.............................................................................................16
5.1
5.2
5.3
5.4
5.5
UART........................................................................................................................................................16
SPI............................................................................................................................................................ 16
I2C............................................................................................................................................................ 17
USB.......................................................................................................................................................... 19
Default interface settings...................................................................................................................19
6 Mechanical specification.................................................................................................. 20
7 Reliability tests and approvals....................................................................................... 21
7.1 Approvals................................................................................................................................................ 21
8 Labeling and ordering information................................................................................ 22
8.1 Product labeling.................................................................................................................................... 22
8.2 Explanation of product codes............................................................................................................ 22
8.3 Ordering codes...................................................................................................................................... 22
Related documents................................................................................................................ 23
Revision history....................................................................................................................... 24
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1 Functional description
1.1 Overview
The ZED-F9P-04B positioning module features the u-blox F9 receiver platform, which provides
multi-band GNSS to high-volume industrial applications. The ZED-F9P-04B has integrated u-blox
multi-band RTK and PPP-RTK1 technologies 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 of only 17.0 x 22.0 x 2.4 mm.
The ZED-F9P-04B includes moving base support, allowing both base and rover to move while
computing the position between them. The moving base is ideal for UAV applications where the UAV
is programmed to follow its owner or to land on a moving platform. It is also well suited to attitude
sensing applications where both base and rover modules are mounted on the same moving platform
and the relative position is used to derive attitude information for the vehicle or tool.
In this document, RTK refers to an OSR-based solution (using RTCM corrections), while PPP-RTK
refers to an SSR-based solution (using SPARTN or CLAS corrections).
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 limits2
Dynamics
≤4g
Altitude
80,000 m
Velocity
500 m/s
3
0.05 m/s
Velocity accuracy
3
0.3 deg
Dynamic heading accuracy
4
GPS+GLO+GAL+BDS GPS+GLO+GAL
GPS+GAL
GPS+GLO
GPS+BDS
GPS
Cold start
25 s
25 s
30 s
25 s
30 s
30 s
Hot start
2s
2s
2s
2s
2s
2s
Aided start
2s
2s
2s
2s
2s
2s
Nav. update
RTK
7 Hz
10 Hz
15 Hz
14 Hz
13 Hz
20 Hz
rate7
PVT
9 Hz
10 Hz
20 Hz
20 Hz
16 Hz
25 Hz
RAW
15 Hz
18 Hz
25 Hz
25 Hz
25 Hz
25 Hz
GNSS
Acquisition
5
6
2
PPP-RTK position accuracy depends on the quality of the SSR service used, high-quality SSR services can perform
similarly to RTK
Assuming Airborne 4 g platform
3
50% at 30 m/s for dynamic operation
4
GPS used in combination with QZSS and SBAS
5
Commanded starts. All satellites at -130 dBm. Measured at room temperature.
6
Dependent on the speed and latency of the aiding data connection, commanded starts
7
Measured with primary output only, secondary output disabled (default)
1
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4
GNSS
Convergence
RTK
GPS+GLO+GAL+BDS GPS+GLO+GAL
GPS+GAL
GPS+GLO
GPS+BDS
GPS
< 10 s
< 10 s
< 10 s
< 10 s
< 30 s
< 10 s
time8
Table 1: ZED-F9P-04B performance in different GNSS modes
GNSS
GPS+GLO+GAL+BDS GPS+GLO+GAL
GPS+GAL
GPS+GLO
GPS+BDS
GPS
Horizontal
PVT9
pos. accuracy
SBAS9
1.5 m CEP
1.5 m CEP
1.5 m CEP
1.5 m CEP
1.5 m CEP
1.5 m CEP
1.0 m CEP
1.0 m CEP
1.0 m CEP
1.0 m CEP
1.0 m CEP
1.0 m CEP
0.01 m
0.01 m
0.01 m
0.01 m
0.01 m
0.01 m
+ 1 ppm CEP
+ 1 ppm CEP
+ 1 ppm CEP + 1 ppm CEP + 1 ppm CEP + 1 ppm CEP
2.0 m R50
2.0 m R50
2.0 m R50
2.0 m R50
2.0 m R50
2.0 m R50
1.5 m R50
1.5 m R50
1.5 m R50
1.5 m R50
1.5 m R50
1.5 m R50
0.01 m
0.01 m
0.01 m
0.01 m
0.01 m
0.01 m
+ 1 ppm R50
+ 1 ppm R50
+ 1 ppm R50 + 1 ppm R50 + 1 ppm R50 + 1 ppm R50
RTK10
Vertical pos.
accuracy
PVT9
9
SBAS
RTK10
Table 2: ZED-F9P-04B position accuracy in different GNSS modes
4
GPS+GLO+GAL+BDS
GPS+GLO+GAL
SPARTN
< 0.06 m CEP
< 0.06 m CEP
CLAS
0.04 m CEP
0.04 m CEP
SPARTN
< 0.12 m R50
< 0.12 m R50
CLAS
0.08 m R50
0.08 m R50
SPARTN11
< 45 s
< 45 s
CLAS
< 70 s
< 70 s
GNSS
Horizontal pos. accuracy
Vertical pos. accuracy
Convergence time
8
Table 3: ZED-F9P-04B performance for PPP-RTK in different GNSS modes
PPP-RTK performance with SPARTN 2.0.1 protocol varies amongst service providers
and service definitions. Performance has been validated with SPARTN correction stream
available at the time of firmware release in April 2022.
4
GPS+GLO+GAL+BDS
GNSS
Sensitivity
12
Tracking and nav.
-167 dBm
Reacquisition
-160 dBm
Cold start
-148 dBm
Hot start
-157 dBm
Table 4: ZED-F9P-04B sensitivity
GNSS
GPS+GLO+GAL+BDS GPS+GLO+GAL
GPS+GAL GPS+GLO GPS+BDS GPS
Nav. update rate
5 Hz
5 Hz
5 Hz
5 Hz
5 Hz
8 Hz
Heading accuracy
0.4 deg
0.4 deg
0.4 deg
0.4 deg
0.4 deg
0.4 deg
Table 5: ZED-F9P-04B moving base RTK performance in different GNSS modes
4
GPS used in combination with QZSS and SBAS
8
Depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and
geometry
24 hours static
9
11
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.
Measured for IP data stream only with low-latency communication link
12
Demonstrated with a good external LNA. Measured at room temperature.
10
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Figure 1: ZED-F9P-04B moving base RTK heading accuracy versus baseline length
In a moving base application, and especially when the antennas are mounted on the same
platform, it is recommended to use identical antennas. Furthermore it is recommended
these antennas are mounted with identical orientation, as this will minimize effects of phase
center variation.
1.3 Supported GNSS constellations
The ZED-F9P-04B GNSS modules are concurrent GNSS receivers that can receive and track multiple
GNSS constellations. Owing to the multi-band RF front-end architecture, all four major GNSS
constellations (GPS, GLONASS, Galileo and BeiDou) plus SBAS and QZSS satellites can be received
concurrently. All satellites in view can be processed to provide an RTK navigation solution when used
with correction data. If power consumption is a key factor, the receiver can be configured for a subset
of GNSS constellations.
The QZSS system shares the same frequency bands as GPS and can only be processed in
conjunction with GPS.
To benefit from multi-band signal reception, dedicated hardware preparation must be made during
the design-in phase. See the integration manual [1] for u-blox design recommendations.
The ZED-F9P-04B supports the GNSS and their signals as shown in Table 6.
GPS / QZSS
GLONASS
Galileo
BeiDou
NavIC
L1C/A (1575.420 MHz) L1OF (1602 MHz +
E1-B/C (1575.420 MHz) B1I (1561.098 MHz)
k*562.5 kHz, k = –7,..,6)
-
L2C (1227.600 MHz)
-
L2OF (1246 MHz +
E5b (1207.140 MHz)
k*437.5 kHz, k = –7,..,6)
B2I (1207.140 MHz)
Table 6: Supported GNSS and signals on ZED-F9P-04B
The ZED-F9P-04B can use the u-blox AssistNow™ Online service which provides GNSS assistance
information.
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1.4 Supported GNSS augmentation systems
1.4.1 Quasi-Zenith Satellite System (QZSS)
The Quasi-Zenith Satellite System (QZSS) is a regional navigation satellite system that provides
positioning services for the Pacific region covering Japan and Australia. The ZED-F9P-04B is able
to receive and track QZSS L1 C/A and L2C signals concurrently with GPS signals, resulting in better
availability especially under challenging signal conditions, e.g., in urban canyons.
The ZED-F9P-04B is also able to receive the QZSS L1S signal in order to use the SLAS (Sub-meter
Level Augmentation Service) which is an augmentation technology that provides correction data for
pseudoranges. Ground monitoring stations positioned in Japan calculate separate corrections for
each visible satellite and broadcast this data to the user via QZSS satellites. The correction stream
is transmitted on the L1 frequency (1575.42 MHz).
QZSS can be enabled only if GPS operation is also configured.
1.4.2 Satellite based augmentation system (SBAS)
The ZED-F9P-04B supports SBAS (including WAAS in the US, EGNOS in Europe, MSAS in Japan
and GAGAN in India) to deliver improved location accuracy within the regions covered. However, the
additional inter-standard time calibration step used during SBAS reception results in degraded time
accuracy overall.
1.4.3 Differential GNSS (DGNSS)
When operating in RTK mode, RTCM version 3 messages are required and the module supports
DGNSS according to RTCM 10403.3.
A ZED-F9P-04B operating as a rover can decode the following RTCM 3.3 messages:
Message type
Description
RTCM 1001
L1-only GPS RTK observables
RTCM 1002
Extended L1-only GPS RTK observables
RTCM 1003
L1/L2 GPS RTK observables
RTCM 1004
Extended L1/L2 GPS RTK observables
RTCM 1005
Stationary RTK reference station ARP
RTCM 1006
Stationary RTK reference station ARP with antenna height
RTCM 1007
Antenna descriptor
RTCM 1009
L1-only GLONASS RTK observables
RTCM 1010
Extended L1-only GLONASS RTK observables
RTCM 1011
L1/L2 GLONASS RTK observables
RTCM 1012
Extended L1/L2 GLONASS RTK observables
RTCM 1033
Receiver and antenna description
RTCM 1074
GPS MSM4
RTCM 1075
GPS MSM5
RTCM 1077
GPS MSM7
RTCM 1084
GLONASS MSM4
RTCM 1085
GLONASS MSM5
RTCM 1087
GLONASS MSM7
RTCM 1094
Galileo MSM4
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Message type
Description
RTCM 1095
Galileo MSM5
RTCM 1097
Galileo MSM7
RTCM 1124
BeiDou MSM4
RTCM 1125
BeiDou MSM5
RTCM 1127
BeiDou MSM7
RTCM 1230
GLONASS code-phase biases
RTCM 4072.0
Reference station PVT (u-blox proprietary RTCM Message)
Table 7: Supported input RTCM 3.3 messages
A ZED-F9P-04B operating as a base station can generate the following RTCM 3.3 output messages:
Message type
Description
RTCM 1005
Stationary RTK reference station ARP
RTCM 1074
GPS MSM4
RTCM 1077
GPS MSM7
RTCM 1084
GLONASS MSM4
RTCM 1087
GLONASS MSM7
RTCM 1094
Galileo MSM4
RTCM 1097
Galileo MSM7
RTCM 1124
BeiDou MSM4
RTCM 1127
BeiDou MSM7
RTCM 1230
GLONASS code-phase biases
RTCM 4072.0
Reference station PVT (u-blox proprietary RTCM Message)
RTCM 4072.1
Additional reference station information (u-blox proprietary RTCM Message)
Table 8: Supported output RTCM 3.3 messages
A ZED-F9P-04B operating as a rover can decode the following SPARTN 2.0.1 messages:
Message type-subtype
Description
SM 0-0
GPS orbit, clock, bias (OCB)
SM 0-1
GLONASS orbit, clock, bias (OCB)
SM 0-2
Galileo orbit, clock, bias (OCB)
SM 1-0
GPS high-precision atmosphere correction (HPAC)
SM 1-1
GLONASS high-precision atmosphere correction (HPAC)
SM 1-2
Galileo high-precision atmosphere correction (HPAC)
SM 2-0
Geographic area definition (GAD)
Table 9: Supported input SPARTN version 2.0.1 messages
1.4.4 Centimeter level augmentation service (CLAS)
A ZED-F9P-04B operating as a rover can receive UBX-RXM-QZSSL6 message from a NEO-D9C on
any communication interface. The message contains QZSS CLAS (centimeter-level augmentation
service) corrections. The CLAS protocol provides corrections for in-view GPS, Galileo, and QZSS
satellites in Japan.
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1.5 Broadcast navigation data and satellite signal
measurements
The ZED-F9P-04B can output all the GNSS broadcast data upon reception from tracked satellites.
This includes all the supported GNSS signals plus the augmentation services QZSS and SBAS.
The UBX-RXM-SFRBX message is used for this information. The receiver also makes available
the tracked satellite signal information, i.e. raw code phase and Doppler measurements, in a
form aligned to the Radio Resource LCS Protocol (RRLP) [3]. For the UBX-RXM-SFRBX message
specification, see the interface description [2].
1.5.1 Carrier-phase measurements
The ZED-F9P-04B modules provide raw carrier-phase data for all supported signals, along with
pseudorange, Doppler and measurement quality information. The data contained in the UBX-RXMRAWX message follows the conventions of a multi-GNSS RINEX 3 observation file. For the UBXRXM-RAWX message specification, see interface description [2].
Raw measurement data are available once the receiver has established data bit
synchronization and time-of-week.
1.6 Supported protocols
The ZED-F9P-04B supports the following protocols:
Protocol
Type
UBX
Input/output, binary, u-blox proprietary
NMEA 4.11 (default), 4.10, 4.0, 2.3, and 2.1
Input/output, ASCII
RTCM 3.3
Input/output, binary
SPARTN 2.0.1
Input, binary
Table 10: Supported protocols
For specification of the protocols, see the interface description [2].
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2 System description
2.1 Block diagram
Figure 2: ZED-F9P-04B block diagram
An active antenna is mandatory with the ZED-F9P-04B. See the integration manual [1].
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3 Pin definition
3.1 Pin assignment
The pin assignment of the ZED-F9P-04B module is shown in Figure 3. The defined configuration of
the PIOs is listed in Table 11.
For detailed information on pin functions and characteristics, see the Integration manual [1].
The ZED-F9P-04B is an LGA package with the I/O on the outside edge and central ground
pads.
Figure 3: ZED-F9P-04B pin assignment
Pin no.
Name
I/O
Description
1
GND
-
Ground
2
RF_IN
I
RF input
3
GND
-
Ground
4
ANT_DETECT
I
Active antenna detect - default active high
5
ANT_OFF
O
External LNA disable - default active high
6
ANT_SHORT_N
I
Active antenna short detect - default active low
7
VCC_RF
O
Voltage for external LNA
8
Reserved
-
Reserved
9
Reserved
-
Reserved
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Pin no.
Name
I/O
Description
10
Reserved
-
Reserved
11
Reserved
-
Reserved
12
GND
-
Ground
13
Reserved
-
Reserved
14
GND
-
Ground
15
Reserved
-
Reserved
16
Reserved
-
Reserved
17
Reserved
-
Reserved
18
Reserved
-
Reserved
19
GEOFENCE_STAT
O
Geofence status, user defined
20
RTK_STAT
O
RTK status:
0 = RTK/PPP-RTK fixed
blinking = receiving and using corrections
1 = no corrections
21
Reserved
-
Reserved
22
Reserved
-
Reserved
23
Reserved
-
Reserved
24
Reserved
-
Reserved
25
Reserved
-
Reserved
26
RXD2
I
Correction UART input
27
TXD2
O
Correction UART output
28
Reserved
-
Reserved
29
Reserved
-
Reserved
30
Reserved
-
Reserved
31
Reserved
-
Reserved
32
GND
-
Ground
33
VCC
I
Voltage supply
34
VCC
I
Voltage supply
35
Reserved
-
Reserved
36
V_BCKP
I
Backup supply voltage
37
GND
-
Ground
38
V_USB
I
USB supply
39
USB_DM
I/O
USB data
40
USB_DP
I/O
USB data
41
GND
-
Ground
42
TXD / SPI_MISO
O
Host UART output if D_SEL = 1(or open). SPI_MISO if D_SEL = 0
43
RXD / SPI_MOSI
I
Host UART input if D_SEL = 1(or open). SPI_MOSI if D_SEL = 0
44
SDA / SPI_CS_N
I/O
I2C Data if D_SEL = 1 (or open). SPI Chip Select if D_SEL = 0
45
SCL / SPI_CLK
I/O
I2C Clock if D_SEL = 1(or open). SPI Clock if D_SEL = 0
46
TX_READY
O
TX_Buffer full and ready for TX of data
47
D_SEL
I
Interface select for pins 42-45
48
GND
-
Ground
49
RESET_N
I
RESET_N
50
SAFEBOOT_N
I
SAFEBOOT_N (for future service, updates and reconfiguration, leave OPEN)
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Pin no.
Name
I/O
Description
51
EXTINT
I
External interrupt pin
52
Reserved
-
Reserved
53
TIMEPULSE
O
Time pulse
54
Reserved
-
Reserved
Table 11: ZED-F9P-04B pin assignment
3.2 Pin states
Table 12 defines the state of some ZED-F9P-04B pins in different modes. The functions for the ZEDF9P-04B pins are as defined in the default configuration.
Pin no.
47
43
42
44
34
Default function
Continuous mode
Software backup mode
Safeboot mode
D_SEL = open
Input pull-up
Input pull-up
Input pull-up
D_SEL = GND
High Z
Input pull-down
High Z
RXD
Input pull-up
Input pull-up
Input pull-up
SPI_MOSI
High Z
Input pull-up
Input pull-up
TXD
Output
Input pull-up
Output
Output13
SPI_MISO
Output
Input pull-up
SDA
Input pull-up / Output
Input pull-up
Input pull-up / Output
SPI_CS_N
High Z
High Z
High Z
SCL
Input pull-up
Input pull-up
Input pull-up
13
SPI_CLK
High Z
High Z
High Z
53
TIMEPULSE
Output
Input pull-up
Output low
50
SAFEBOOT_N
Input pull-up
Input pull-up
Input pull-up
51
EXTINT
Input pull-up
Input pull-up
Input pull-up
26
RXD2
Input pull-up
Input pull-up
Input pull-up
27
TXD2
Output
Input pull-up
Output
49
RESET_N
Input pull-up
Input pull-up
Input pull-up
Table 12: ZED-F9P-04B pin states in different operational modes
13
If SPI CS = low. Otherwise it is configured as an input pull-up.
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4 Electrical specification
The limiting values given are in accordance with the Absolute Maximum Rating System
(IEC 134). Stress above one or more of the limiting values may cause permanent damage
to the device. These are stress ratings only. Operation of the device at these or at any other
conditions above those given below is not implied. Exposure to limiting values for extended
periods may affect device reliability.
Where application information is given, it is advisory only and does not form part of the
specification.
4.1 Absolute maximum ratings
Parameter
Symbol
Power supply voltage
VCC
Condition
14
Voltage ramp on VCC
Backup battery voltage
V_BCKP
Max
Units
-0.5
3.6
V
20
8000
µs/V
-0.5
3.6
V
20
14
Voltage ramp on V_BCKP
Input pin voltage
Min
Vin
µs/V
VCC ≤ 3.1 V
-0.5
VCC + 0.5
V
VCC > 3.1 V
-0.5
3.6
V
100
mA
V
VCC_RF output current
ICC_RF
Supply voltage USB
V_USB
–0.5
3.6
USB signals
USB_DM,
USB_DP
-0.5
V_USB + 0.5 V
Input power at RF_IN
Prfin
Storage temperature
Tstg
source impedance =
50 Ω, continuous wave
-40
10
dBm
+85
°C
Table 13: Absolute maximum ratings
The product is not protected against overvoltage or reversed voltages. Voltage spikes
exceeding the power supply voltage specification, given in the table above, must be limited
to values within the specified boundaries by using appropriate protection diodes.
4.2 Operating conditions
All specifications are at an ambient temperature of 25 °C. Extreme operating temperatures
can significantly impact the specification values. Applications operating near the
temperature limits should be tested to ensure the specification.
Parameter
Symbol
Min
Typical
Max
Units
Power supply voltage
VCC
2.7
3.0
3.6
V
Backup battery voltage
V_BCKP
1.65
3.6
V
Backup battery current
I_BCKP
SW backup current
I_SWBCKP
Input pin voltage range
Vin
Digital IO pin low level input voltage
Vil
Digital IO pin high level input voltage
Vih
36
1.4
0
V_BCKP = 3 V,
VCC = 0 V
mA
VCC
V
0.4
V
0.8 * VCC
Digital IO pin low level output voltage Vol
14
µA
Condition
V
0.4
V
Iol = 2 mA
Exceeding the ramp speed may permanently damage the device
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Parameter
Symbol
Digital IO pin high level output voltage Voh
Min
Typical
Max
VCC – 0.4
DC current through any digital I/O pin Ipin
(except supplies)
Units
Condition
V
Ioh = 2 mA
5
mA
Pull-up resistance for SCL, SDA
Rpu
7
15
30
kΩ
Pull-up resistance for D_SEL, RXD,
TXD, SAFEBOOT_N, EXTINT
Rpu
30
75
130
kΩ
Pull-up resistance for RESET_N
Rpu
7
10
13
kΩ
Voltage at USB pins
V_USBIO
0
V_USB
V
VCC_RF voltage
VCC_RF
VCC_RF output current
Receiver chain noise figure
VCC - 0.1
ICC_RF
15
V
50
NFtot
mA
9.5
External gain (at RF_IN)
Ext_gain
17
Operating temperature
Topr
-40
+25
dB
50
dB
+85
°C
Table 14: Operating conditions
Operation beyond the specified operating conditions can affect device reliability.
4.3 Indicative power requirements
Table 15 lists examples of the total system supply current including RF and baseband section for
a possible application.
Values in Table 15 are provided for customer information only, as an example of typical
current requirements. The values are characterized on samples by using a cold start
command. Actual power requirements can vary depending on FW version used, external
circuitry, number of satellites tracked, signal strength, type and time of start, duration, and
conditions of test.
Symbol
Parameter
Conditions
GPS+GLO GPS
+GAL+BDS
Unit
IPEAK
Peak current
Acquisition
130
120
mA
IVCC
16
VCC current
Acquisition
90
75
mA
IVCC16
VCC current
Tracking
85
68
mA
Table 15: Currents to calculate the indicative power requirements
All values in Table 15 are measured at 25 °C ambient temperature.
15
Only valid for GPS
16
Simulated GNSS signal
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5 Communications interfaces
There are several communications interfaces, including UART, SPI, I2C17 and USB.
All the inputs have internal pull-up resistors in normal operation and can be left open if not used.
All the PIOs are supplied by VCC, therefore all the voltage levels of the PIO pins are related to VCC
supply voltage.
5.1 UART
The UART interfaces support configurable baud rates. See the Integration manual [1].
Hardware flow control is not supported.
The UART1 is enabled if D_SEL pin of the module is left open or "high".
Symbol
Parameter
Min
Max
Unit
Ru
Baud rate
9600
921600
bit/s
ΔTx
Tx baud rate accuracy
-1%
+1%
-
ΔRx
Rx baud rate tolerance
-2.5%
+2.5%
-
Table 16: ZED-F9P-04B UART specifications
5.2 SPI
The ZED-F9P-04B has an SPI slave interface that can be selected by setting D_SEL = 0. The SPI
slave interface is shared with UART1 and I2C pins. The SPI pins available are:
• SPI_MISO (TXD)
• SPI_MOSI (RXD)
• SPI_CS_N
• SPI_CLK
The SPI interface is designed to allow communication to a host CPU. The interface can be operated
in slave mode only. Note that SPI is not available in the default configuration because its pins are
shared with the UART and I2C interfaces. The maximum transfer rate using SPI is 125 kB/s and the
maximum SPI clock frequency is 5.5 MHz.
This section provides SPI timing values for the ZED-F9P-04B slave operation. The following tables
present timing values under different capacitive loading conditions. Default SPI configuration is
CPOL = 0 and CPHA = 0.
17
I2C is a registered trademark of Philips/NXP
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Figure 4: ZED-F9P-04B SPI specification mode 1: CPHA=0 SCK = 5.33 MHz
Timings 1 - 12 are not specified here as they are dependent on the SPI master. Timings A - E
are specified for SPI slave.
Timing value at 2 pF load
Min (ns)
Max (ns)
"A" - MISO data valid time (CS)
14
38
"B" - MISO data valid time (SCK) weak driver mode
21
38
"C" - MISO data hold time
114
130
"D" - MISO rise/fall time, weak driver mode
1
4
"E" - MISO data disable lag time
20
32
Timing value at 20 pF load
Min (ns)
Max (ns)
"A" - MISO data valid time (CS)
19
52
"B" - MISO data valid time (SCK) weak driver mode
25
51
"C" - MISO data hold time
117
137
"D" - MISO rise/fall time, weak driver mode
6
16
"E" - MISO data disable lag time
20
32
Timing value at 60 pF load
Min (ns)
Max (ns)
"A" - MISO data valid time (CS)
29
79
"B" - MISO data valid time (SCK) weak driver mode
35
78
"C" - MISO data hold time
122
152
"D" - MISO rise/fall time, weak driver mode
15
41
"E" - MISO data disable lag time
20
32
Table 17: ZED-F9P-04B SPI timings at 2 pF load
Table 18: ZED-F9P-04B SPI timings at 20 pF load
Table 19: ZED-F9P-04B SPI timings at 60 pF load
5.3 I2C
An I2C-compliant interface is available for communication with an external host CPU. The interface
can be operated in slave mode only. It is compatible with Fast-mode of the I2C industry standard.
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Since the maximum SCL clock frequency is 400 kHz, the maximum bit rate is 400 kbit/s. The
interface stretches the clock when slowed down while serving interrupts, therefore the real bit rates
may be slightly lower. The maximum clock stretching time that the host can expect is 20 ms.
The I2C interface is only available with the UART default mode. If the SPI interface is
selected by using D_SEL = 0, the I2C interface is not available.
Figure 5: ZED-F9P-04B I2C slave specification
Symbol
Parameter
Min (Standard /
Fast-mode)
Max
Unit
fSCL
SCL clock frequency
0
400
kHz
tHD;STA
Hold time (repeated) START condition
4.0/1
-
µs
tLOW
Low period of the SCL clock
5/2
-
µs
tHIGH
High period of the SCL clock
4.0/1
-
µs
tSU;STA
Setup time for a repeated START condition
5/1
-
µs
tHD;DAT
Data hold time
0/0
-
µs
tSU;DAT
Data setup time
250/100
tr
Rise time of both SDA and SCL signals
-
1000/300 (for C = 400pF)
ns
tf
Fall time of both SDA and SCL signals
-
300/300 (for C = 400pF)
ns
tSU;STO
Setup time for STOP condition
4.0/1
-
µs
tBUF
Bus-free time between a STOP and START
condition
5/2
-
µs
tVD;DAT
Data valid time
-
4/1
µs
tVD;ACK
Data valid acknowledge time
-
4/1
µs
VnL
Noise margin at the low level
0.1 VCC
-
V
VnH
Noise margin at the high level
0.2 VCC
-
V
ns
Table 20: ZED-F9P-04B I2C slave timings and specifications
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5.4 USB
The USB 2.0 FS (full speed, 12 Mbit/s) interface can be used for host communication. Due to
the hardware implementation, it may not be possible to certify the USB interface. The V_USB pin
supplies the USB interface.
5.5 Default interface settings
Interface
Settings
UART1 output
38400 baud, 8 bits, no parity bit, 1 stop bit.
NMEA protocol with GGA, GLL, GSA, GSV, RMC, VTG, TXT messages are output by default.
UBX and RTCM 3.3 protocols are enabled by default but no output messages are enabled by
default.
UART1 input
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX, NMEA and RTCM 3.3 input protocols are enabled by default.
SPARTN input protocol is enabled by default.
UART2 output
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX protocol is disabled by default.
RTCM 3.3 protocol is enabled by default but no output messages are enabled by default.
NMEA protocol is disabled by default.
UART2 input
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX protocol is enabled by default.
RTCM 3.3 protocol is enabled by default.
SPARTN protocol is enabled by default.
NMEA protocol is disabled by default.
USB
Default messages activated as in UART1. Input/output protocols available as in UART1.
I2C
Fully compatible with the I2C18 industry standard, available for communication with an external
host CPU or u-blox cellular modules, operated in slave mode only. Default messages activated as
in UART1. Input/output protocols available as in UART1. Maximum bit rate 400 kb/s.
SPI
Allow communication to a host CPU, operated in slave mode only. Default messages activated as
in UART1. Input/output protocols available as in UART1. SPI is not available unless D_SEL pin is
set to low (see section D_SEL interface in Integration manual [1]).
Table 21: Default interface settings
Refer to the applicable interface description [2] for information about further settings.
By default the ZED-F9P-04B outputs NMEA messages that include satellite data for all
GNSS bands being received. This results in a high NMEA output load for each navigation
period. Make sure the UART baud rate used is sufficient for the selected navigation rate and
the number of GNSS signals being received.
Do not use UART2 as the only one interface to the host. Not all UBX functionality is available
on UART2, such as firmware upgrade, safeboot or backup modes functionalities. No start-up
boot screen is sent out from UART2.
18
I2C is a registered trademark of Philips/NXP
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6 Mechanical specification
Figure 6: ZED-F9P-04B mechanical drawing
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7 Reliability tests and approvals
ZED-F9P-04B modules are based on AEC-Q100 qualified GNSS chips.
Tests for product family qualifications are according to ISO 16750 "Road vehicles – environmental
conditions and testing for electrical and electronic equipment”, and appropriate standards.
7.1 Approvals
The ZED-F9P-04B is designed to in compliance with the essential requirements and other
relevant provisions of Radio Equipment Directive (RED) 2014/53/EU.
The ZED-F9P-04B complies with the Directive 2011/65/EU (EU RoHS 2) and its amendment
Directive (EU) 2015/863 (EU RoHS 3).
Declaration of Conformity (DoC) is available on the u-blox website.
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8 Labeling and ordering information
This section provides information about product labeling and ordering. For information about
moisture sensitivity level (MSL), product handling and soldering see the integration manual [1].
8.1 Product labeling
The labeling of the ZED-F9P-04B modules provides product information and revision information.
For more information contact u-blox sales.
8.2 Explanation of product codes
Three product code formats are used. The Product name is used in documentation such as this data
sheet and identifies all u-blox products, independent of packaging and quality grade. The Ordering
code includes options and quality, while the Type number includes the hardware and firmware
versions.
Table 22 below details these three formats.
Format
Structure
Product code
Product name
PPP-TGV
ZED-F9P
Ordering code
PPP-TGV-NNQ
ZED-F9P-04B
Type number
PPP-TGV-NNQ-XX
ZED-F9P-04B-01
Table 22: Product code formats
The parts of the product code are explained in Table 23.
Code
Meaning
Example
PPP
Product family
ZED
TG
Platform
F9 = u-blox F9
V
Variant
P = High precision
NNQ
Option / Quality grade
NN: Option [00...99]
Q: Grade, A = Automotive, B = Professional
XX
Product detail
Describes hardware and firmware versions
Table 23: Part identification code
8.3 Ordering codes
Ordering code
Product
Remark
ZED-F9P-04B
ZED-F9P
Shipped with firmware FW 1.00 HPG 1.32
Table 24: Product ordering codes
Product changes affecting form, fit or function are documented by u-blox. For a list of
Product Change Notifications (PCNs) see our website at: https://www.u-blox.com/en/
product-resources.
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Related documents
[1]
[2]
[3]
[4]
ZED-F9P Integration manual UBX-18010802
HPG 1.32 Interface description UBX-22008968
Radio Resource LCS Protocol (RRLP), (3GPP TS 44.031 version 11.0.0 Release 11)
ZED-F9P Moving Base application note, UBX-19009093
For regular updates to u-blox documentation and to receive product change notifications
please register on our homepage https://www.u-blox.com.
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Revision history
Revision
Date
Name
Status / comments
R01
21-Dec-2021
dama
Advance information
R02
03-May-2022
dama
Early production information
HPG 1.32 update. ZED-F9P-04B-01 update.
Overall text improvement and typo corrections plus:
1.2 Performance section updated and vertical accuracy added
3.2 Pin states on operational modes table added
4.2 Operating condition table updated with pull-up resistance values
5.5 Default interface setting table updated
8.3 Ordering code section updated
Related document section updated
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Contact
For complete contact information visit us at www.u-blox.com.
u-blox Offices
North, Central and South America
Headquarters
Asia, Australia, Pacific
Europe, Middle East, Africa
u-blox America, Inc.
Phone:
+1 703 483 3180
E-mail:
info_us@u-blox.com
u-blox AG
Phone:
+41 44 722 74 44
E-mail:
info@u-blox.com
Support: support@u-blox.com
u-blox Singapore Pte. Ltd.
Phone:
+65 6734 3811
E-mail:
info_ap@u-blox.com
Support: support_ap@u-blox.com
Regional Office West Coast
Phone:
+1 408 573 3640
E-mail:
info_us@u-blox.com
Regional Office Australia
Phone:
+61 3 9566 7255
E-mail:
info_anz@u-blox.com
Support: support_ap@u-blox.com
Technical Support
Phone:
+1 703 483 3185
E-mail:
support_us@u-blox.com
Regional Office China (Beijing)
Phone:
+86 10 68 133 545
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office China (Chongqing)
Phone:
+86 23 6815 1588
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office China (Shanghai)
Phone:
+86 21 6090 4832
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office China (Shenzhen)
Phone:
+86 755 8627 1083
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office India
Phone:
+91 80 4050 9200
E-mail:
info_in@u-blox.com
Support: support_in@u-blox.com
Regional Office Japan (Osaka)
Phone:
+81 6 6941 3660
E-mail:
info_jp@u-blox.com
Support: support_jp@u-blox.com
Regional Office Japan (Tokyo)
Phone:
+81 3 5775 3850
E-mail:
info_jp@u-blox.com
Support: support_jp@u-blox.com
Regional Office Korea
Phone:
+82 2 542 0861
E-mail:
info_kr@u-blox.com
Support: support_kr@u-blox.com
Regional Office Taiwan
Phone:
+886 2 2657 1090
E-mail:
info_tw@u-blox.com
Support: support_tw@u-blox.com
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