and 
Support for lower speed applications with the ZED-F9R, coming soon
clive1 asked 2 years ago
https://www.u-blox.com/en/press-releases/centimeter-level-gps-technology-sensor-fusion-simplifies-precise-positioning-robotic
Some of the documentation was updated at the end of last week, and follows a press release earlier this year. The prior iteration was automotive centric, with a 30 kph requirement for sensor fusion.
The firmware should be publicly available within a week or two. If you don’t have an FAE assigned to your account use the Project Registration as a means to get into the CRM database, noting your application, and need for lower dynamics. https://www.u-blox.com/en/project-information-form
The Lawn Mower (sub 2 m/s) and Scooter (sub 50 m/s) dynamics are less than those of the Automotive (sub 100 m/s) dynamics, and should fuse based on the anticipate ranges of those dynamics. https://www.u-blox.com/en/ubx-viewer/view/ZED-F9R_Integrationmanual_UBX-20039643
Support for SPARTN (Sapcorda) has been added, as has a UBX-NAV-PVAT (01 17) message providing Position, Velocity, Attitude and Time in a single message, which expands on the prior PVT message. This is supported in uCenter 2.0
Some of the documentation was updated at the end of last week, and follows a press release earlier this year. The prior iteration was automotive centric, with a 30 kph requirement for sensor fusion.
The firmware should be publicly available within a week or two. If you don’t have an FAE assigned to your account use the Project Registration as a means to get into the CRM database, noting your application, and need for lower dynamics. https://www.u-blox.com/en/project-information-form
The Lawn Mower (sub 2 m/s) and Scooter (sub 50 m/s) dynamics are less than those of the Automotive (sub 100 m/s) dynamics, and should fuse based on the anticipate ranges of those dynamics. https://www.u-blox.com/en/ubx-viewer/view/ZED-F9R_Integrationmanual_UBX-20039643
Support for SPARTN (Sapcorda) has been added, as has a UBX-NAV-PVAT (01 17) message providing Position, Velocity, Attitude and Time in a single message, which expands on the prior PVT message. This is supported in uCenter 2.0
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replied 2 years ago
HPS 1.21 Firmware, upgrades current ZED-F9R to ZED-F9R-02B equivalent.
https://www.u-blox.com/en/ubx-viewer/view/ZED-F9R-02B_FW1.00HPS1.21_RN_UBX-21035491_1.3?url=https%3A%2F%2Fwww.u-blox.com%2Fsites%2Fdefault%2Ffiles%2FZED-F9R-02B_FW1.00HPS1.21_RN_UBX-21035491_1.3.pdf
https://www.u-blox.com/en/ubx-viewer/view/UBX_F9_100_HPS121.a1bca8df8b1e83c63fe957d8a644d3ac.bin?url=https%3A%2F%2Fwww.u-blox.com%2Fsites%2Fdefault%2Ffiles%2FUBX_F9_100_HPS121.a1bca8df8b1e83c63fe957d8a644d3ac.bin
The Robot Lawn Mower (RLM) dynamic requires wheel-tick and direction from both rear wheels, this needs to be injected by the host via UBX-ESF-MEAS in-bound messages.
https://github.com/cturvey/RandomNinjaChef/blob/main/uBloxRLMwheelticks.c
https://github.com/cturvey/RandomNinjaChef/blob/main/uBloxRLMdynamics.c
The UBX-NAV-PVAT format, from uCenter 2.x
https://github.com/cturvey/RandomNinjaChef/blob/main/uBlox_UBX_NAV_PVAT.c