ZED-F9K-00B
u-blox F9 high precision automotive DR GNSS receiver
Data sheet
Abstract
This data sheet describes the ZED-F9K high precision module with 3D
sensors and a multi-band GNSS receiver. The module provides laneaccurate positioning under the most challenging conditions, decimeterlevel accuracy for automotive mass markets, and it is ideal for ADAS, V2X
and head-up display. It provides a low-risk multi-band RTK turnkey solution
with built-in inertial sensors and lag-free displays with up to 30 Hz real-time
position update rate.
www.u-blox.com
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ZED-F9K-00B - Data sheet
Document information
Title
ZED-F9K-00B
Subtitle
u-blox F9 high precision automotive DR GNSS receiver
Document type
Data sheet
Document number
UBX-17061422
Revision and date
R06
Disclosure restriction
C1-Public
24-Aug-2021
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
Firmware version
PCN reference
Product status
ZED-F9K
ZED-F9K-00B-02
LAP 1.20
-
Advance information
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 © 2021, u-blox AG.
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ZED-F9K-00B - Data sheet
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......................................................................................... 6
1.4.1 Quasi-Zenith Satellite System (QZSS)...................................................................................... 6
1.4.2 Satellite based augmentation system (SBAS)........................................................................ 7
1.4.3 Differential GNSS (DGNSS).......................................................................................................... 7
1.5 Broadcast navigation data and satellite signal measurements................................................... 8
1.5.1 Carrier-phase measurements......................................................................................................8
1.6 Supported protocols............................................................................................................................... 8
1.7 Automotive dead reckoning.................................................................................................................. 8
2 System description............................................................................................................ 10
2.1 Block diagram........................................................................................................................................ 10
3 Pin definition.........................................................................................................................11
3.1 Pin assignment......................................................................................................................................11
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 UART........................................................................................................................................................16
5.2 SPI............................................................................................................................................................ 16
5.3 I2C............................................................................................................................................................ 17
5.4 USB.......................................................................................................................................................... 19
5.5 WT (wheel tick) and DIR (forward/reverse indication).................................................................. 19
5.6 Default interface settings...................................................................................................................19
6 Mechanical specification.................................................................................................. 21
7 Reliability tests and approvals....................................................................................... 22
7.1 Approvals................................................................................................................................................ 22
8 Labeling and ordering information................................................................................ 23
8.1 Product labeling.................................................................................................................................... 23
8.2 Explanation of product codes............................................................................................................ 23
8.3 Ordering codes...................................................................................................................................... 23
Related documents................................................................................................................ 24
Revision history....................................................................................................................... 25
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1 Functional description
1.1 Overview
The ZED-F9K-00B module features the u-blox F9 multi-band L1/L2 GNSS receiver with
rapid convergence time within seconds. This mass-market component provides decimeter-level
positioning with high availability, while making use of all four GNSS constellations simultaneously.
It is the first dead reckoning module with an integrated Inertial Measurement Unit (IMU) capable
of high precision positioning. The sophisticated built-in algorithms fuse the IMU data, GNSS
measurements, wheel ticks, and vehicle dynamics model to provide lane-accurate positioning where
GNSS alone would fail. The module operates under open-sky motorways, in the wooded countryside,
in difficult urban environments, and even in tunnels and underground parking. In modern automotive
applications, such as advanced driver assistance system (ADAS) where availability can improve the
safety of our roads, ZED-F9K-00B is the ultimate solution.
The device is a turnkey solution eliminating the technical risk of integrating third-party libraries,
precise positioning engines, and the multi-faceted hardware engineering aspects of radio frequency
design and digital design. The u-blox approach provides a transparent evaluation of the positioning
solution and clear lines of responsibility for design support while reducing supply chain complexity
during production.
ZED-F9K-00B is ideal for innovative automotive architecture designs with limited space and power.
The module provides accurate location services to the increasing number of intelligent electronic
control units (ECU) such as telematics control unit, navigation system, infotainment and V2X safety
systems.
In priority navigation mode the module reaches a navigation rate of up to 30 Hz. The on-board
processor augments fused GNSS position with additional IMU-based position estimates. Drivers
experience responsive, lag-free user interfaces. ZED-F9K-00B can output raw IMU and raw GNSS
data for advanced applications.
ZED-F9K-00B modules are manufactured in ISO/TS 16949 certified sites and are fully tested on
a system level. Qualification tests are performed as stipulated in the ISO 16750 standard: “Road
vehicles–Environmental conditions and testing for electrical and electronic equipment”.
1.2 Performance
Parameter
Specification
Receiver type
Multi-band high precision DR GNSS 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 limits1
Dynamics
≤4g
Altitude
80,000 m
500 m/s
Velocity
Position error during GNSS loss2
3D Gyro + 3D accelerometer + speed 2%
pulse
1
Assuming airborne 4 g platform, not supported by ADR
2
68% error incurred without GNSS as a percentage of distance of traveled 3000 m, applicable to four-wheel road vehicle
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Parameter
Specification
Max navigation update rate (RTK)
3
Priority navigation mode
30 Hz
Non-priority navigation mode
2 Hz
Velocity accuracy4
0.05 m/s
Dynamic attitude accuracy4
Navigation latency
4
Heading
0.2 deg
Pitch
0.3 deg
Roll
0.5 deg
Priority navigation mode
15 ms
Max sensor measurement output rate
100 Hz
GPS+GLO+GAL
+BDS
GPS+GLO+GAL
GPS+GAL
GPS+GLO
BDS+GLO
Cold start
26 s
25 s
30 s
25 s
28 s
Hot start
2s
2s
2s
2s
2s
Aided starts
3s
3s
3s
3s
3s
RTK
≤ 10 s
≤ 10 s
≤ 10 s
≤ 10 s
≤ 30 s
Tracking and nav. -160 dBm
-160 dBm
-160 dBm
-160 dBm
-160 dBm
Reacquisition
-157 dBm
-157 dBm
-157 dBm
-157 dBm
-157 dBm
Cold start
-147 dBm
-147 dBm
-147 dBm
-147 dBm
-145 dBm
Hot start
-158 dBm
-158 dBm
-158 dBm
-158 dBm
-158 dBm
Position accuracy
Along track
0.20 m
0.20 m
0.25 m
0.25 m
0.60 m
RTK7 11
Cross track
0.20 m
0.20 m
0.25 m
0.25 m
0.60 m
2D CEP
0.30 m
0.30 m
0.40 m
0.40 m
0.85 m
Vertical
0.30 m
0.30 m
0.40 m
0.40 m
1.00 m
GNSS
Acquisition5
6
Re-convergence
time7 8
Sensitivity9 10
Table 1: ZED-F9K-00B performance in different GNSS modes
GNSS
Acquisition
5
Sensitivity9 10
11
Position accuracy RTK
GPS
GLONASS
BEIDOU
GALILEO
Cold start
30 s
28 s
40 s
-
Hot start
2s
2s
2s
-
Aided start6
3s
3s
3s
-
Tracking and nav.
-158 dBm
-158 dBm
-158 dBm
-156 dBm
Reacquisition
-157 dBm
-155 dBm
-157 dBm
-153 dBm
Cold start
-147 dBm
-147 dBm
-141 dBm
-137 dBm
Hot start
-158 dBm
-157 dBm
-158 dBm
-155 dBm
2D CEP
0.80 m
1.00 m
-
1.50 m
Vertical
1.00 m
1.50 m
-
2.00 m
Table 2: ZED-F9K-00B performance in single-GNSS modes
3
Rates with SBAS and QZSS enabled for > 98% fix report rate under typical conditions
4
68% at 30 m/s for dynamic operation
5
All satellites at -130 dBm
6
Dependent on the speed and latency of the aiding data connection, commanded starts
7
8
68% depending on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and
geometry
Time to ambiguity fix after 20 s outage
9
Demonstrated with a good external LNA
10
Configured min C/N0 of 6 dB/Hz, limited by FW with min C/N0 of 20 dB/Hz for best performance
11
Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna
phase center offset errors.
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1.3 Supported GNSS constellations
The ZED-F9K-00B 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.
All satellites in view can be processed to provide an RTK navigation solution when used with
correction data; the highest positioning accuracy will be achieved when the receiver is tracking
signals on both bands from multiple satellites, and is provided with corresponding correction data.
The QZSS system shares the same frequency bands as GPS and can only be processed in
conjunction with GPS.
To take advantage of 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-F9K-00B supports the GNSS and their signals as shown in Table 3.
GPS / QZSS
GLONASS
Galileo
BeiDou
L1C/A (1575.420 MHz)
L1OF (1602 MHz + k*562.5
kHz, k = –7,..., 5, 6)
E1-B/C (1575.420 MHz)
B1I (1561.098 MHz)
L2C (1227.600 MHz)
L2OF (1246 MHz + k*437.5
kHz, k = –7,..., 5, 6)
E5b (1207.140 MHz)
B2I (1207.140 MHz)
Table 3: Supported GNSS and signals on ZED-F9K-00B
The following GNSS assistance services can be activated on ZED-F9K-00B:
AssistNow™ Online
AssistNow™ Offline
AssistNow™ Autonomous
Supported
-
-
Table 4: Supported Assisted GNSS (A-GNSS) services
ZED-F9K-00B supports the following augmentation systems:
SBAS
QZSS
IMES
Differential GNSS
EGNOS, GAGAN, WAAS and MSAS supported
Supported
Not supported
RTCM 3.3
Table 5: Supported augmentation systems of ZED-F9K-00B
The augmentation systems SBAS and QZSS can be enabled only if GPS operation is also
enabled.
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-F9K-00B 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-F9K-00B 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 independent corrections
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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-F9K-00B optionally 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.
SBAS reception is enabled by default in ZED-F9K-00B.
1.4.3 Differential GNSS (DGNSS)
When operating in RTK mode, RTCM version 3.3 messages are required and the module supports
DGNSS according to RTCM 10403.3. ZED-F9K-00B 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
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
Table 6: Supported input RTCM 3.3 messages
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1.5 Broadcast navigation data and satellite signal
measurements
The ZED-F9K-00B can output all the GNSS broadcast data upon reception from tracked satellites.
This includes all the supported GNSS signals plus the augmentation service QZSS. The UBXRXM-SFRBX message contains 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-F9K-00B 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.
Only available with an optional license for an additional cost.
1.6 Supported protocols
The ZED-F9K-00B supports the following protocols:
Protocol
Type
UBX
Input/output, binary, u-blox proprietary
NMEA 4.11, 4.10 (default), 4.0, 2.3, and 2.1
Input/output, ASCII
RTCM 3.3
Input, binary
Table 7: Supported protocols
For specification of the protocols, see the interface description [2].
1.7 Automotive dead reckoning
u-blox’s proprietary automotive dead reckoning (ADR) solution uses a 3D inertial measurement
unit (IMU) included within the module, and speed pulses from the vehicle’s wheel tick (WT) sensor.
Alternatively, the vehicle speed data can be provided as messages via a serial interface. Sensor
data and GNSS signals are processed together, achieving 100% coverage, with highly accurate and
continuous positioning even in GNSS-hostile environments (for example, urban canyons) or in case
of GNSS signal absence (for example, tunnels and parking garages).
WT or speed sensor rate variations and the 3D IMU sensors are calibrated automatically and
continuously by the module, accommodating automatically to, for example, vehicle tire wear.
For more details, see the Integration manual [1].
The ZED-F9K-00B combines GNSS and dead reckoning measurements and computes a position
solution at rates of up to 2 Hz with non-priority navigation mode. In priority navigation mode the
navigation rate can be increased using IMU-only data to deliver accurate, low-latency position
measurements at rates up to 30 Hz. These solutions are reported in standard NMEA, UBX-NAV-PVT
and similar messages.
The ZED-F9K-00B will work optimally in priority navigation mode when the IMU and WT
sensors are calibrated, and the alignment angles are correct.
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Dead reckoning allows navigation to commence as soon as power is applied to the module (that is,
before a GNSS fix has been established) under the following conditions:
• The vehicle has not been moved while the module has been switched off.
• At least a dead reckoning fix was available when the vehicle was last used.
• A backup supply has been available for the module since the vehicle was last used.
The save-on-shutdown feature can be used when no backup supply is available. All
information necessary will be saved to the flash and read from the flash upon restart.
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2 System description
2.1 Block diagram
Figure 1: ZED-F9K-00B block diagram
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3 Pin definition
3.1 Pin assignment
The pin assignment of the ZED-F9K-00B module is shown in Figure 2. The defined configuration of
the PIOs is listed in Table 8.
The ZED-F9K-00B is an LGA package with the I/O on the outside edge and central ground
pads.
Figure 2: ZED-F9K-00B 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
5
ANT_OFF
O
External LNA disable
6
ANT_SHORT_N
I
Active antenna short detect
7
VCC_RF
O
Voltage for external LNA
8
Reserved
-
Reserved
9
Reserved
-
Reserved
10
Reserved
-
Reserved
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Pin no.
Name
I/O
Description
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 – fixed, blinking – receiving and using corrections, 1 – no
corrections
21
Reserved
-
Reserved
22
WT
I
Wheel ticks
23
DIR
I
Direction
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 power input
39
USB_DM
I/O
USB data
40
USB_DP
I/O
USB data
41
GND
-
Ground
42
TXD / SPI_MISO
O
Serial port if D_SEL =1(or open). SPI MISO if D_SEL = 0
43
RXD / SPI_MOSI
I
Serial port 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
48
GND
-
Ground
49
RESET_N
I
RESET_N
50
SAFEBOOT_N
I
SAFEBOOT_N (for future service, updates and reconfiguration, leave OPEN)
51
EXT_INT
I
External interrupt pin
52
Reserved
-
Reserved
53
TIMEPULSE
O
Time pulse
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Pin no.
Name
I/O
Description
54
Reserved
-
Reserved
Table 8: ZED-F9K-00B pin assignment
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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
12
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
12
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
DC current through any digital I/O pin Ipin
(except supplies)
TBD
mA
VCC_RF output current
ICC_RF
100
mA
Supply voltage USB
V_USB
–0.5
3.6
V
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 9: 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
36
µA
SW backup current
I_SWBCKP
1.5
mA
Input pin voltage range
Vin
Digital IO pin low level input voltage
Vil
12
0
VCC
V
0.4
V
Condition
V_BCKP = 3 V,
VCC = 0 V
Exceeding the ramp speed may permanently damage the device
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Parameter
Symbol
Min
Digital IO pin high level input voltage
Vih
0.8 * VCC
Typical
0.4
Digital IO pin high level output voltage Voh
VCC_RF output current
Receiver chain noise figure
VCC – 0.4
VCC_RF
VCC - 0.1
ICC_RF
13
Ext_gain
17
Operating temperature
Topr
-40
+25
V
Iol = 2 mA
V
Ioh = 2 mA
mA
9.5
External gain (at RF_IN)
Condition
V
50
NFtot
Units
V
Digital IO pin low level output voltage Vol
VCC_RF voltage
Max
dB
50
dB
85
°C
Table 10: Operating conditions
Operation beyond the specified operating conditions can affect device reliability.
4.3 Indicative power requirements
Table 11 lists examples of the total system supply current including RF and baseband section for
a possible application.
Values in Table 11 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
IVCC14
VCC current
Acquisition
90
75
mA
Isupply14
Supply current
Tracking
85
68
mA
Table 11: Currents to calculate the indicative power requirements
All values in Table 11 are measured at 25 °C ambient temperature.
13
Only valid for the GPS
14
Simulated GNSS signal
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5 Communications interfaces
There are several communications interfaces including UART, SPI, I2C15 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.
UART1 is the primary host communications interface while UART2 is dedicated for RTCM 3.3
corrections and NMEA. No UBX protocol is supported on UART 2.
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 12: ZED-F9K-00B UART specifications
5.2 SPI
The ZED-F9K-00B 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-F9K-00B slave operation. The following tables
present timing values under different capacitive loading conditions. Default SPI configuration is
CPOL = 0 and CPHA = 0.
15
I2C is a registered trademark of Philips/NXP
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Figure 3: ZED-F9K-00B 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 13: ZED-F9K-00B SPI timings at 2 pF load
Table 14: ZED-F9K-00B SPI timings at 20 pF load
Table 15: ZED-F9K-00B 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 fully compatible with the I2C industry standard fast mode.
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ZED-F9K-00B - Data sheet
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 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 4: ZED-F9K-00B 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
Set-up time for a repeated START condition
5/1
-
µs
tHD;DAT
Data hold time
0/0
-
µs
tSU;DAT
Data set-up 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
Set-up 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 16: ZED-F9K-00B I2C slave timings and specifications
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ZED-F9K-00B - Data sheet
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 WT (wheel tick) and DIR (forward/reverse indication)
ZED-F9K-00B pin 22 (WT) is available as a wheel-tick input. The pin 23 (DIR) is available as a direction
input (forward/reverse indication).
By default the wheel tick count is derived from the rising edges of the WT input.
For optimal performance the wheel tick resolution should be less than 5 cm.
The DIR input shall indicate whether the vehicle is moving forwards or backwards.
Alternatively, the vehicle WT (or speed) and DIR inputs can be provided via one of the communication
interfaces with UBX-ESF-MEAS messages.
For more details, see the Integration manual [1].
5.6 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 protocol is enabled by default but no output messages are enabled by default.
RTCM 3.3 protocol output is not supported.
UART1 input
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX, NMEA and RTCM 3.3 input protocols are enabled by default.
UART2 output
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX protocol cannot be enabled.
RTCM 3.3 protocol output is not supported.
NMEA protocol is disabled by default.
UART2 input
38400 baud, 8 bits, no parity bit, 1 stop bit.
UBX protocol cannot be enabled and will not receive UBX input messages.
RTCM 3.3 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 I2C16 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 17: Default interface settings
UART2 can be configured as an RTCM interface. RTCM 3.3 is the default input protocol. UART2
may also be configured for NMEA output. NMEA GGA output is typically used with virtual reference
service correction services.
16
I2C is a registered trademark of Philips/NXP
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ZED-F9K-00B - Data sheet
By default the ZED-F9K-00B outputs NMEA messages that include satellite data for all
GNSS bands being received. This results in a high NMEA load output 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.
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ZED-F9K-00B - Data sheet
6 Mechanical specification
Figure 5: ZED-F9K-00B mechanical drawing
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ZED-F9K-00B - Data sheet
7 Reliability tests and approvals
ZED-F9K-00B 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-F9K-00B is designed to in compliance with the essential requirements and other
relevant provisions of Radio Equipment Directive (RED) 2014/53/EU.
The ZED-F9K-00B 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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ZED-F9K-00B - Data sheet
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-F9K-00B 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 18 below details these three formats.
Format
Structure
Product code
Product name
PPP-TGV
ZED-F9K
Ordering code
PPP-TGV-NNQ
ZED-F9K-00B
Type number
PPP-TGV-NNQ-XX
ZED-F9K-00B-02
Table 18: Product code formats
The parts of the product code are explained in Table 19.
Code
Meaning
Example
PPP
Product family
ZED
TG
Platform
F9 = u-blox F9
V
Variant
K = High precision + ADR
NNQ
Option / Quality grade
NN: Option [00...99]
Q: Grade, A = Automotive, B = Professional
XX
Product detail
Describes hardware and firmware versions
Table 19: Part identification code
8.3 Ordering codes
Ordering code
Product
Remark
ZED-F9K-00B
u-blox ZED-F9K
Table 20: 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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ZED-F9K-00B - Data sheet
Related documents
[1]
[2]
[3]
ZED-F9K Integration manual, UBX-20046189
LAP 1.20 Interface description, UBX-20046191
Radio Resource LCS Protocol (RRLP), (3GPP TS 44.031 version 11.0.0 Release 11)
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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ZED-F9K-00B - Data sheet
Revision history
Revision
Date
Name
Status / comments
R01
19-Feb-2019
ssid
Objective specification
R02
24-Sep-2019
ssid
Advance information
Priority/non-priority navigation mode
R03
15-Jan-2020
ssid
Early production information - optional license information for carrierphase measurements, aided starts performance numbers revised
R04
10-Sep-2020
ssid
Advance information - LAP 1.20 update - ZED-F9K-00B-01 update
- Added ZED-F9K performance in different single GNSS modes
- Performance in different GNSS modes revised
- SBAS support added
- Communication interfaces section updated
- Re-convergence time performance numbers revised
R05
06-Nov-2020
ssid
Early production information - ZED-F9K-00B-01 - Public
R06
24-Aug-2021
ssid
Advance information - ZED-F9K-00B-02
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ZED-F9K-00B - Data sheet
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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