
ZED-F9P-04B
High precision GNSS module
Professional grade
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-eﬃcientmodule.

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Document information
Title

ZED-F9P-04B

Subtitle

High precision GNSS module

Document type

Data sheet

Document number

UBX-21044850

Revision and date

R05

Disclosure restriction

C1-Public

21-Mar-2024

Product status

Corresponding content status

Functional sample

Draft

For functional testing. Revised and supplementary data will be publishedlater.

In development /prototypeObjective 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-23000084
UBX-23007382

Mass production

u-blox or third parties may hold intellectual property rights in the products, names, logos and designs included in thisdocument. Copying, reproduction, or modiﬁcation of this document or any part thereof is only permitted with the express
written permission of u-blox. Disclosure to third parties is permitted for clearly public documents only.
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 aparticular 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 © 2024, 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).......................................................................9
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 UART........................................................................................................................................................16
5.2 SPI............................................................................................................................................................ 16
5.3 I2C............................................................................................................................................................ 17
5.4 USB.......................................................................................................................................................... 19
5.5 Default interface settings...................................................................................................................19

6 Mechanical speciﬁcation.................................................................................................. 20
7 Qualiﬁcations and 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-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 enablesprecise 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 attitudesensing 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 typeMulti-band GNSS high precision receiver

Accuracy of time pulse signal

RMS
99%

30 ns
60 ns

Frequency of time pulse signal0.25 Hz to 10 MHz(conﬁgurable)

Operational limits2

Dynamics≤4g

Altitude80,000 m

Velocity

500 m/s

30.05 m/s

Velocity accuracy

3

0.3 degDynamic heading accuracy

Table 1: ZED-F9P-04B speciﬁcations
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

2s

2s

2s

2s

2s

2s

Max navigation RTK

7 Hz

10 Hz

15 Hz

14 Hz

13 Hz

20 Hz

update 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

Aided start

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

5Commanded 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

GPS+GLO+GAL+BDS GPS+GLO+GAL

GPS+GAL

GPS+GLO

GPS+BDSGPS< 10 s< 10 s< 10 s< 10 s< 30 sGPS+GLO+GAL+BDS GPS+GLO+GAL

GPS+GAL

GPS+GLO

GPS+BDS

GPS

1.5 m

1.5 m

1.5 m

1.5 m

1.5 m

1.5 m

SBAS9

1.0 m

1.0 m

1.0 m

1.0 m

1.0 m

1.0 m

RTK10

0.01 m0.01 m0.01 m0.01 m0.01 m0.01 m+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm

GNSS

Convergence

RTK< 10 stime8
Table 2: ZED-F9P-04B performance in diﬀerent GNSS modes
GNSS
Horizontal
positionaccuracy
(CEP)

PVT

Verticalpositionaccuracy(Median)

PVT

9

2.0 m

2.0 m

2.0 m

2.0 m

2.0 m

2.0 m

9

1.5 m

1.5 m

1.5 m

1.5 m

1.5 m

1.5 m

10

0.01 m0.01 m0.01 m0.01 m0.01 m0.01 m+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm+ 1 ppm

9

SBAS
RTK

Table 3: ZED-F9P-04B position accuracy in diﬀerent GNSS modes
4

GNSS

GPS+GLO+GAL+BDS

GPS+GLO+GAL

Horizontal position accuracy(CEP)

SPARTN< 0.06 m< 0.06 m

CLAS

0.04 m0.04 m

Vertical position accuracy(Median)

SPARTN< 0.12 m< 0.12 m

CLAS

0.08 m0.08 mConvergence time8

SPARTN11< 45 s< 45 s

CLAS< 70 s< 70 sTable 4: 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 thetime 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 5: ZED-F9P-04B sensitivity
GNSS

GPS+GLO+GAL+BDS GPS+GLO+GAL

GPS+GAL GPS+GLO GPS+BDS GPS

Max navigation
update rate

5 Hz

5 Hz

5 Hz

5 Hz

5 Hz

8 Hz

Baseline

0.01 m0.01 m0.01 m0.01 m0.01 m0.01 maccuracy13

4

GPS used in combination with QZSS and SBAS

8

Depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility andgeometry
24 hours static

911

Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antennaphase 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.

13

50%, measured with 1 m baseline and patch antennas with good ground plane

10

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GNSS

GPS+GLO+GAL+BDS GPS+GLO+GAL

GPS+GAL GPS+GLO GPS+BDS GPS

Heading accuracy

0.4 deg

0.4 deg

0.4 deg

0.4 deg

0.4 deg

0.4 deg

Table 6: ZED-F9P-04B moving base RTK performance in diﬀerent GNSS modes

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 theseantennas 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 usedwith correction data. If power consumption is a key factor, the receiver can be conﬁgured for a subsetof GNSS constellations.
The QZSS system shares the same frequency bands with GPS and can only be processed inconjunction 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 7.
GPS / QZSSGLONASS

Galileo

BeiDouL1C/A (1575.420 MHz) L1OF (1602 MHz +E1-B/C (1575.420 MHz) B1I (1561.098 MHz)k*562.5 kHz, k = –7,..,6)

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GPS / QZSSGLONASS

L2C (1227.600 MHz)

L2OF (1246 MHz +E5b (1207.140 MHz)k*437.5 kHz, k = –7,..,6)

Galileo

BeiDouNavIC

B2I (1207.140 MHz)-

Table 7: Supported GNSS signals on ZED-F9P-04B

The ZED-F9P-04B can use the u-blox AssistNow™ Online service which provides GNSS assistanceinformation.

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 forpseudoranges. Ground monitoring stations positioned in Japan calculate separate corrections foreach 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, L1Sb(QZSS SBAS)
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 indegraded 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

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Message type

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

RTCM 4072.0

Reference station PVT (u-blox proprietary RTCM Message)

Table 8: 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 9: 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 0-0GPS orbit, clock, bias (OCB)

SM 0-1

GLONASS orbit, clock, bias (OCB)

SM 0-2

Galileo orbit, clock, bias (OCB)

SM 1-0GPS high-precision atmosphere correction (HPAC)

SM 1-1

GLONASS high-precision atmosphere correction (HPAC)

SM 1-2

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Message type-subtype

Description

SM 2-0Geographic area deﬁnition (GAD)

Table 10: 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.

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 as well as the QZSS and SBAS augmentation services.
The UBX-RXM-SFRBX message provides this information, see the Interface description [2] for the
UBX-RXM-SFRBX message speciﬁcation. The receiver can provide satellite signal information in aform compatible with the Radio Resource LCS Protocol (RRLP) [4].

1.5.1 Carrier-phase measurements
The ZED-F9P-04B modules provide raw carrier-phase data for all supported signals, along withpseudorange, 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 synchronizationand 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 11: 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. For more information, see theIntegration 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 12.
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

-

Ground4

ANT_DETECTI

Active antenna detect - default active high5

ANT_OFFO

External LNA disable - default active high6

ANT_SHORT_N

I

Active antenna short detect - default active low

7

VCC_RFO

Voltage for external LNA

8Reserved-

Reserved

9

Reserved-

Reserved

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Pin no.

Name

I/O

Description

10

Reserved-

Reserved

11

Reserved-

Reserved

12

GND

-

Ground13

Reserved-

Reserved

14

GND

-

Ground15

Reserved-

Reserved

16

Reserved-

Reserved

17

Reserved-

Reserved

18

Reserved-

Reserved

19

GEOFENCE_STAT

O

Geofence status, user deﬁned

20

RTK_STATO

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

-

Ground33

VCC

I

Voltage supply

34

VCC

I

Voltage supply

35

Reserved-

Reserved

36

V_BCKPI

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

-

Ground42

TXD / SPI_SDO

O

Host UART output if D_SEL = 1(or open). SPI_SDO if D_SEL = 0

43

RXD / SPI_SDI

I

Host UART input if D_SEL = 1(or open). SPI_SDI 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 = 045

SCL / SPI_CLK

I/O

I2C Clock if D_SEL = 1(or open). SPI Clock if D_SEL = 0

46

TX_READYO

TX_Buﬀer full and ready for TX of data

47

D_SEL

I

Interface select for pins 42-45

48

GND

-

Ground49

RESET_NI

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

TIMEPULSEOTime pulse

54

Reserved-

Reserved

Table 12: ZED-F9P-04B pin assignment

3.2 Pin states
Table 13 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

45

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-downHigh-Z

RXD

Input pull-up

Input pull-up

Input pull-up

SPI_SDO

High-Z

Input pull-up

Input pull-up

TXD

OutputInput pull-up

OutputOutput14

SPI_SDI

OutputInput 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

14

SPI_SLK

High-Z

High-Z

High-Z53

TIMEPULSE

OutputInput 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

OutputInput pull-up

Output49

RESET_N

Input pull-up

Input pull-up

Input pull-up

Table 13: ZED-F9P-04B pin states in diﬀerent operational modes

14

If SPI CS = low. Otherwise it is conﬁgured as an input pull-up.

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4 Electrical speciﬁcation
4.1 Absolute maximum ratings
CAUTION. Risk of device damage. Exceeding the absolute maximum ratings may aﬀect the
lifetime and reliability of the device or permanently damage it. Do not exceed the absolute
maximum ratings.
This product is not protected against overvoltage or reversed voltages. Use appropriate
protection to avoid device damage from voltage spikes exceeding the speciﬁed boundaries.
Parameter

SymbolPower supply voltage

VCC

Condition

15

Voltage ramp on VCC

Backup battery voltage

V_BCKP

Min

Max

Units

-0.5

3.6

V

20

8000

µs/V

-0.5

3.6

V

20

15

Voltage ramp on V_BCKP
Input pin voltage

Vin

VCC_RF output current

ICC_RF

Supply voltage USB

V_USB

USB signals

USB_DM,
USB_DP

Input power at RF_IN

PrﬁnStorage temperature

Tstg

µs/V

VCC ≤ 3.1 V-0.5

VCC + 0.5

V

VCC > 3.1 V

-0.5

3.6

V

300

mA

–0.5

3.6

V

-0.5

V_USB + 0.5 V

source impedance =50 Ω, continuous wave
-40

10

dBm

+85

°C

Table 14: Absolute maximum ratings

4.2 Operating conditions
Extreme operating temperatures can signiﬁcantly impact the speciﬁed values. If an application
operates near the min or max temperature limits, ensure the speciﬁed values are not exceeded.
Parameter

SymbolMin

Typical

Max

Units

Power supply voltage

VCC

2.7

3.0

3.6

V

V_BCKP

1.65

3.6

V

Backup battery voltage
Backup battery current

I_BCKP45µA

SW backup current17

I_SWBCKP

1.4

mA

Input pin voltage range

Vin

Digital IO pin low level input voltage

Vil

Digital IO pin high level input voltage

Vih16, 17

0

VCC

V

0.4

V

0.8 * VCC

Digital IO pin low level output voltage Vol
VCC – 0.4

V_BCKP = 3 V,
VCC = 0 V

V
0.4

Digital IO pin high level output voltage Voh

ConditionV

Iol = 2 mA18

V

Ioh = 2 mA18

15

Exceeding the ramp speed may permanently damage the device

16
17

To measure the I_BCKP the receiver should ﬁrst be switched on, i.e. VCC and V_BCKP is available. Then set VCC to 0 V
while the V_BCKP remains available. Afterward measure the current consumption at the V_BCKP.
The value has been characterized at 25 °C ambient temperature.

18

TIMEPULSE has 4 mA current drive/sink capability

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ZED-F9P-04B - Data sheet

Parameter

SymbolMin

TypicalDC current through any digital I/O pin Ipin
(except supplies)

Max

Units

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
19

V
50

NFtot

mA

9.5

External gain (at RF_IN)

Ext_gain17

Operating temperature

Topr

-40

+25

Condition

dB
50

dB

+85

°C

Table 15: Operating conditions

4.3 Indicative power requirements
Table 16 provides examples of typical current requirements when using a cold start command. The
given values are total system supply current for a possible application including RF and baseband
sections.
All values in Table 16 have been measured at 25 °C ambient temperature.
The actual power requirements vary depending on the FW version used, external circuitry,
number of satellites tracked, signal strength, type and time of start, duration, and conditionsof test.
SymbolParameter

Conditions

GPS+GLO GPS+GAL+BDS

Unit

IPEAK

Peak current

Acquisition

130

120

mA

IVCC20VCC current

Acquisition

90

75

mA

IVCC20VCC current

Tracking

85

70

mA

Table 16: Currents to calculate the indicative power requirements

19

Only valid for GPS

20

Simulated GNSS signal

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5 Communications interfaces
The ZED-F9P-04B has several communications interfaces21, including UART, SPI, I2C 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 UARTThe 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".
SymbolParameter

Min

Max

Unit

Ru

Baud rate

9600

921600bit/s

ΔTx

Tx baud rate accuracy

-1%

+1%

-

ΔRx

Rx baud rate tolerance

-2.5%

+2.5%

-

Table 17: ZED-F9P-04B UART speciﬁcations

5.2 SPIThe SPI interface is disabled by default. The SPI interface shares pins with UART and I2C and canbe selected by setting D_SEL = 0. The SPI interface can be operated in peripheral mode only. The
maximum transfer rate using SPI is 125 kB/s and the maximum SPI clock frequency is 5.5 MHz.
The SPI timing parameters for peripheral operation are deﬁned in Figure 4. Default SPI conﬁgurationis CPOL = 0 and CPHA = 0.

Figure 4: ZED-F9P-04B SPI speciﬁcation mode 1: CPHA=0 SCK = 5.33 MHz

21

The signal names and related terms have been replaced with new terminology in this document.

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SymbolParameter

Min

Max

Unit

1

CS deassertion hold time

23

-

ns

2

Chip select time (CS to SCK)

20

-

ns

3

SCK rise/fall time

-

7

ns

4

SCK high time

24

-

ns

5

SCK low time

24

-

ns

6

Chip deselect time (SCK falling to CS)

30

-

ns

7

Chip deselect time (CS to SCK)

30

-

ns

9

CS high time

32

-

ns

10

SDI transition time

-

7

ns

11

SDI setup time

16

-

ns

12

SDI hold time

24

-

ns

Table 18: SPI peripheral input timing parameters 1 - 12
SymbolParameter

Min

Max

Unit

A

SDO data valid time (CS)

12

40

ns

B

SDO data valid time (SCK), weak driver mode

15

40

ns

C

SDO data hold time

100

140

ns

D

SDO rise/fall time, weak driver mode

0

5

ns

E

SDO data disable lag time

15

35

ns

Table 19: SPI peripheral timing parameters A - E, 2 pF load capacitance
SymbolParameter

Min

Max

Unit

A

SDO data valid time (CS)

16

55

ns

B

SDO data valid time (SCK), weak driver mode

20

55

ns

C

SDO data hold time

100

150

ns

D

SDO rise/fall time, weak driver mode

3

20

ns

E

SDO data disable lag time

15

35

ns

Table 20: SPI peripheral timing parameters A - E, 20 pF load capacitance
SymbolParameter

Min

Max

Unit

A

SDO data valid time (CS)

26

85

ns

B

SDO data valid time (SCK), weak driver mode

30

85

ns

C

SDO data hold time

110

160

ns

D

SDO rise/fall time, weak driver mode

13

45

ns

E

SDO data disable lag time

15

35

ns

Table 21: SPI peripheral timing parameters A - E, 60 pF load capacitance

5.3 I2C
An I2C interface is available for communication with an external host CPU in I2C Fast-mode.
Backwards compatibility with Standard-mode I2C bus operation is not supported. The interface canbe operated only in peripheral mode with a maximum bit rate of 400 kbit/s. The interface can makeuse of clock stretching by holding the SCL line LOW to pause a transaction. In this case, the bittransfer rate is reduced. The maximum clock stretching time is 20 ms.

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Figure 5: ZED-F9P-04B I2C peripheral speciﬁcation
I2C Fast-mode
SymbolParameter

Min

Max

Unit

fSCL

SCL clock frequency

0

400

kHz

tHD;STA

Hold time (repeated) START condition

0.6

-

µs

tLOW

Low period of the SCL clock

1.3

-

µs

tHIGH

High period of the SCL clock

0.6

-

µs

tSU;STA

Setup time for a repeated START condition

0.6-

tHD;DAT

Data hold time0tSU;DAT

Data setup time100 24tr

Rise time of both SDA and SCL signals-

300 (for C = 400pF)

ns

tf

Fall time of both SDA and SCL signals-

300 (for C = 400pF)

nstSU;STO

Setup time for STOP condition

0.6

-

µs

tBUF

Bus-free time between a STOP and START
condition

1.3

-

µs

tVD;DAT

Data valid time-

0.9 23µstVD;ACK

Data valid acknowledge time-

0.9 23µs

VnL

Noise margin at the low level

0.1 VCC-

V

VnH

Noise margin at the high level

0.2 VCC

-

V

22

-

µs
23

µs
ns

Table 22: ZED-F9P-04B I2C peripheral timings and speciﬁcations
22
23

24

External device must provide a hold time of at least one transition time (max 300 ns) for the SDA signal (with respect tothe min Vih of the SCL signal) to bridge the undeﬁned region of the falling edge of SCL.
The maximum tHD;DAT must be less than the maximum tVD;DAT or tVD;ACK with a maximum of 0.9 µs by a transition time.
This maximum must only be met if the device does not stretch the LOW period (tLOW) of the SCL signal. If the clock
stretches the SCL, the data must be valid by the set-up time before it releases the clock.
When the I2C peripheral is stretching the clock, the tSU;DAT of the ﬁrst bit of the next byte is 62.5 ns.

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The I2C interface is only available with the UART default mode. If the SPI interface is selectedby using D_SEL = 0, the I2C interface is not available.

5.4 USB
The USB 2.0 FS (full speed, 12 Mbit/s) interface can be used for host communication. Due tothe 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 bydefault.

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

Available for communication in the Fast-mode with an external host CPU in peripheral 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 peripheral 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 23: 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 bootscreen is sent out from UART2.

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ZED-F9P-04B - Data sheet

6 Mechanical speciﬁcation

Figure 6: ZED-F9P-04B mechanical drawing
SymbolMin (mm)

Typical (mm)Max (mm)

A

21.80

22.00

22.20

B

16.80

17.00

17.20

C

2.20

2.40

2.60

D

3.65

3.85

4.05

E

0.85

1.05

1.25

F

1.70

1.90

2.10

G

1.05

1.10

1.15

H

0.70

0.80

0.96

K

1.20

1.50

1.80

M

3.45

3.65

3.85

N

3.05

3.25

3.45

P

2.05

2.10

2.15

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ZED-F9P-04B - Data sheet

SymbolMin (mm)

Typical (mm)Max (mm)

R

0.88

1.10

1.32

L

0.00

0.30

Weight

1.8 g

Table 24: ZED-F9P-04B mechanical dimensions

The mechanical picture of the de-paneling residual tabs (L) is an approximate representation.
The shape and position may vary.
Take the size of the de-paneling residual tabs into account when designing the component keepout area.

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ZED-F9P-04B - Data sheet

7 Qualiﬁcations and approvals
Quality and reliability
Product qualiﬁcation

Qualiﬁed according to ISO 16750

Chip qualiﬁcation

Modules are based on AEC-Q100 qualiﬁed GNSS chips

Manufacturing

Manufactured at ISO/TS 16949 certiﬁed sites

Environmental
RoHS compliance
Moisture sensitivity level (MSL)

Yes
25 26

4

Type approvals
European RED certiﬁcation (CE)

Declaration of Conformity (DoC) is available on the u-blox website.

UK conformity assessment (UKCA)

Yes

Table 25: Qualiﬁcations and approvals

25

For the MSL standard, see IPC/JEDEC J-STD-020 and J-STD-033, available on www.jedec.org

26

For more information regarding moisture sensitivity levels, labelling, storage and drying, see the Product packaging
reference guide [3]UBX-21044850 - R05
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ZED-F9P-04B - 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-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 in the ZED-F9P-04B labels. The Product name used in
documentation such as this data sheet identiﬁes all u-blox products, independent of packaging andquality grade. The Ordering code includes options and quality, while the Type number includes the
hardware and ﬁrmware versions.
Table 26 below details these three formats.
FormatStructure

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 26: Product code formats

The parts of the product code are explained in Table 27.
Code

Meaning

ExamplePPP

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 = ProfessionalXX

Product detail

Describes hardware and ﬁrmware versions

Table 27: Part identiﬁcation code

8.3 Ordering codes
Ordering code

Product

RemarkZED-F9P-04B

ZED-F9P

Shipped with ﬁrmware FW 1.00 HPG 1.32

Table 28: 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-F9P-04B - Data sheet

Related documents
[1]
[2]
[3]
[4]
[5]

ZED-F9P Integration manual UBX-18010802
HPG 1.32 Interface description UBX-22008968
Product packaging reference guide UBX-14001652
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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Related documents

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ZED-F9P-04B - Data sheet

Revision history
Revision

Date

Status / comments

R01

21-Dec-2021

Advance information

R02

03-May-2022

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

R03

24-Mar-2023

Updated I2C and SPI timing speciﬁcations in section Communications interfaces
Updated VCC_RF output current in table Absolute maximum ratings
Updated backup current in table Operating conditions
Added timepulse footnote in table Operating conditions

R04

15-May-2023

Changed product status to Mass production

R05

21-Mar-2024

Updated sections:
•
•
•
•
•

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Performance
Mechanical speciﬁcations updated with information on de-paneling residual tabs
Qualiﬁcations and approvals
Information on moisture sensitivity level has been moved from the Integration manual
to chapter Qualiﬁcations and approvals
Editorial changes throughout the document

Revision history

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ZED-F9P-04B - Data sheet

Contact
u-blox AG
Address:

Zürcherstrasse 68
8800 Thalwil
Switzerland

For further support and contact information, visit us at www.u-blox.com/support.

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