Filename simpleRTK2B_FW113_Base-00.txt

Starting from a default ZED-F9P configuration:

• Enable survey-in with target accuracy 2.5m (should take no more than 5-10min)
• Change UART2 baudrate to 115kbps. This improves the buffer use of the radio links.
• Activate following RTCM messages
  • 1005: Stationary RTK reference station ARP
  • 1074: GPS MSM4
  • 1084: GLONASS MSM4
  • 1094: GALILEO MSM4
  • 1230: GLONASS code-phase

We have selected this combination of messages because it’s a good tradeoff between performance and required data link:

• Performance can be improved by using MSM7 messages
• RF Bandwidth can be improved by eliminated more constellations (e.g. remove Galileo), or increase 1005 to only be sent once every 5 seconds.

Filename simpleRTK2B_FW113_Rover_1Hz-00.txt

Starting from a default ZED-F9P configuration:

• Change UART2 baudrate to 115kbps. This improves the buffer use of the radio links.
• Disable SBAS, to avoid position jumps during short RTK corrections interruptions.
• Disable Beidou, to make it simpler to increase navigation rate to 10Hz without troubles.

Filename simpleRTK2B_FW113_Bluetooth-02.txt

Starting from a default ZED-F9P configuration:

• Disable SBAS, to avoid position jumps during short RTK corrections interruptions
• UART2 activate NMEA output via UBX-CFG-PRT
• Activate GST so accuracy estimates are also visible
• Enabled High Precision NMEA with one extra decimal digit
• Disable GSA on UART2 to improve bluetooth range

Filename simpleRTK2B_FW113_Rover_10Hz-00.txt

Starting from a default ZED-F9P configuration:

• Change UART2 baudrate to 115kbps. This improves the buffer use of the radio links.
• Disable SBAS, to avoid position jumps during short RTK corrections interruptions.
• Disable Beidou, to make it simpler to increase navigation rate to 10Hz without troubles.
• Disable GSV on UART to avoid buffer overflw
• Change navigation rate to 100ms

Filename simpleRTK2B_FW113_Rover_sends_GGA_to_base_1Hz-00.txt

Same as Rover plus:

• Disable all NMEA messages except GGA on UART2.
• Enable NMEA output on UART2.

Filename simpleRTK2B_FW113_HeadingKit_MovingBase_1Hz-00.txt

This is the files that goes into the simpleRTK2Blite mounted on top of the simpleRTK2B in the kit. Note that depending on your previous configuration you might have to upload the configuration file twice, because in the middle of the configuration file there is a baudrate change.

Starting from a default ZED-F9P configuration:

• Disable SBAS, to avoid position jumps during short RTK corrections interruptions.
• Disable Beidou, to make it simpler to increase navigation rate to 5Hz without troubles.
• UART1 and UART2 increased to 115kbps
• Activated following RTCM messages on UART1, which is connected from the simpleRTK2Blite to the UART2 of simpleRTK2B:
  • 1077: GPS MSM7
  • 1087: GLONASS MSM7
  • 1097: GALILEO MSM7
  • 1230: GLONASS code-phase
  • 4072.0: Reference station PVT (u-blox proprietary RTCM Message)

Filename simpleRTK2B_FW113_HeadingKit_Rover_1Hz-00

Starting from a default ZED-F9P configuration:

• UART1 and UART2 increased to 115kbps
• Disable NMEA messages in all interfaces except USB, to avoid buffer overflow
• Enabled on USB and UART1:
  • UBX-NAV-RELPOSNED
  • UBX-NAV-PVT

Filename simpleRTK2B_FW113_HeadingKit_MovingBase_5Hz-00.txt

This is the files that goes into the simpleRTK2Blite mounted on top of the simpleRTK2B in the kit. Note that depending on your previous configuration you might have to upload the configuration file twice, because in the middle of the configuration file there is a baudrate change.

Starting from a default ZED-F9P configuration:

• Disable SBAS, to avoid position jumps during short RTK corrections interruptions.
• Disable Beidou, to make it simpler to increase navigation rate to 5Hz without troubles.
• UART1 increased to 460kbps and UART2 to 115kbps
• Activated following RTCM messages on UART1, which is connected from the simpleRTK2Blite to the UART2 of simpleRTK2B:
  • 1077: GPS MSM7
  • 1087: GLONASS MSM7
  • 1097: GALILEO MSM7
  • 1230: GLONASS code-phase
  • 4072.0: Reference station PVT (u-blox proprietary RTCM Message)
• Changed navigation rate to 200ms

Filename simpleRTK2B_FW113_HeadingKit_Rover_5Hz-00.txt

Starting from a default ZED-F9P configuration:

• UART1 increased to 115kbps and UART2 to 460kbps
• Disable NMEA messages in all interfaces except USB, to avoid buffer overflow
• Enabled on USB and UART1:
  • UBX-NAV-RELPOSNED
  • UBX-NAV-PVT
• Changed navigation rate to 200ms

Filename simpleRTK2B_FW113_HeadingKit_MovingBase_10Hz_Ardupilot-02.txt

This is the files that goes into the simpleRTK2Blite mounted on top of the simpleRTK2B in the kit. Note that depending on your previous configuration you might have to upload the configuration file twice, because in the middle of the configuration file there is a baudrate change.

Starting from a default ZED-F9P configuration:

• Disable SBAS, to avoid position jumps during short RTK corrections interruptions.
• Disable Beidou, to make it simpler to increase navigation rate to 5Hz without troubles.
• UART1 increased to 460kbps and UART2 to 115kbps
• Activated following RTCM messages on UART1, which is connected from the simpleRTK2Blite to the UART2 of simpleRTK2B:
  • 1077: GPS MSM7
  • 1087: GLONASS MSM7
  • 1097: GALILEO MSM7
  • 1230: GLONASS code-phase
  • 4072.0: Reference station PVT (u-blox proprietary RTCM Message)
  • 4072.1: Additional reference station information (u-blox proprietary RTCM Message)
• Enabled UBX-NAV-RELPOSNED to read relative positions.
• Changed navigation rate to 100ms

Filename simpleRTK2B_FW113_HeadingKit_Rover_10Hz_Ardupilot-02.txt

Starting from a default ZED-F9P configuration:

• UART1 increased to 115kbps and UART2 to 460kbps
• Disable NMEA messages in all interfaces, to avoid buffer overflow
• Enabled on USB and UART1:
  • UBX-NAV-RELPOSNED
  • UBX-NAV-PVT
• Changed navigation rate to 100ms

Filename simpleRTK2B_FW113_simpleSSR_1Hz-01.txt

• UART1 outputs GGA and ZDA. (XBee switch must be on “XBEE TO GPS UART1”).
• UART2 disabled. Can be enabled from UBX-CFG-PRT.
• USB outputting NMEA+UBX.

Filename simpleRTK2B_FW113_simpleSSR_5Hz-01.txt

• UART1 outputs GGA and ZDA. (XBee switch must be on “XBEE TO GPS UART1”).
• UART2 disabled. Can be enabled from UBX-CFG-PRT.
• USB outputting NMEA+UBX.

Filename simpleRTK2B_FW113_simpleSSR_10Hz-00.txt

• UART1 outputs GGA and ZDA. (XBee switch must be on “XBEE TO GPS UART1”).
• UART2 disabled. Can be enabled from UBX-CFG-PRT. Increase baudrate to avoid buffer overflow at 10Hz. Contact us if in doubt.
• USB outputting NMEA+UBX.

Filename simpleRTK2B_FW113_PPK_UART1&USB_1Hz-00.txt

• NMEA messages disabled on UART1 and baudrate changed to 57’600 bps.
• UART1 and USB output UBX-RXM-RAWX and UBX-RXM-SFRBX. (XBee switch must be on “XBEE TO GPS UART1”).