ZED-F9P GPS-RTK HAT for Raspberry Pi, Centimeter Level Accuracy, Multi-Band RTK Differential GPS Module

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ZED-F9P GPS-RTK HAT For Raspberry Pi, Centimeter Level Accuracy, Multi-Band RTK Differential GPS Module

ZED-F9P GPS-RTK HAT

Centimeter Level GNSS Module Based On ZED-F9P For Raspberry Pi

Multi-Band RTK Technology, Centimeter Level Accuracy Positioning In Seconds, Concurrent Reception Of 4 GNSS Systems,
High Update Rate With Minor Drifting, Low Power Consumption, Outstanding Ability For Anti-Spoofing & Anti-Jamming

Features At A Glance

This is a precise centimeter level Raspberry Pi GNSS HAT based on ZED-F9P. It provides features like multi-band RTK with fast convergence times, high update rate, moving base RTK mode support, concurrent reception of 4 GNSS systems, augment positioning systems support, accurate & fast positioning with minor drifting, and outstanding ability for anti-spoofing & anti-jamming.

By simply attaching it onto the Pi, it is fairly easy to enable GNSS capability for your Raspberry Pi.

  • Standard Raspberry Pi 40PIN GPIO extension header, supports Raspberry Pi series boards, Jetson Nano
  • multi-band RTK with fast convergence times, centimeter level accuracy, high update rate
  • Supports Moving base RTK mode, enabling terminal precise navigation and centimeter level accuracy
  • Supports concurrent receiving 4 GNSS constellations (GPS, BeiDou, Galileo and GLONASS), and still retains low power consumption
  • Augment systems support, including SBAS, QZSS, IMES, D-GPS, improving the positioning performance of service location
  • A-GNSS (Assisted GNSS) support, reducing the first positioning time when powered up, improving the acquisition sensitivity
  • Features -167dBm navigating sensitivity and outstanding ability for anti-spoofing & anti-jamming, supports geo-fencing
  • Supports U-Center, an easy way to config the module
  • Onboard battery holder, supports ML1220 rechargeable cell, for preserving ephemeris information and hot starts
  • 4x LEDs for indicating the module operating status
  • Comes with development resources and manual (examples for Raspberry Pi/Jetson Nano/Arduino/STM32)

Specifications

OTHER SPECIFICATIONS
GNSS SPECIFICATIONS
ZED-F9Pconcurrent receiving
GPS
GLONASS
Galileo
BeiDou
GPS
GLONASS
Galileo
GPS
Galileo
GPS
GLONASS
GPS
BeiDou
GPS
Frequency bandu-blox F9 platform
GPS L1C/A L2C, SBAS, QZSS, GLONASS L1OF L2OF, BeiDou B1I B2I, Galileo E1B/C E5b
Max navigation update ratePVT8Hz10Hz15Hz15Hz15Hz20Hz
RTK10Hz12Hz20Hz25Hz25Hz25Hz
RAW20Hz20Hz25Hz25Hz25Hz25Hz
RTK convergence time<10s<10s<10s<10s<10s<30s
Time-To-First-FixCold starts24s25s29s26s28s29s
Hot starts2s2s2s2s2s2s
Aided starts2s2s2s2s2s2s
Positioning accuracyPVT1.5m CEP
RTK (horizontal and vertical)0.01m+1ppm CEP
SensitivityTracking and navigating-167 dBm
Re-acquisition-160 dBm
Cold starts-148 dBm
Hot starts-157 dBm
Velocity accuracy0.05 m/s
Heading accuracy0.3 degree
PPS accuracyRMS30ns
99%60ns
Jamming±11ns
PPS frequency0.25Hz ~ 10MHz (configurable)
Operational limitsAcceleration (max): 4g
Altitude (max): 50000m
Velocity (max): 500m/s
Communication interfaceUSB, UART (4800~921600bps, 9600bps by default), I2C (max 400KHz), SPI (5MHz)
ProtocolNMEA 0183 Version 4.10, UBX, RTCM 3.3
Power supply5V
Overall current< [email protected] (continue mode)
Module current[email protected] max (tracking status)
Operating temperature-40℃ ~ 85℃
Dimensions65mm × 30.5mm

Standard Raspberry Pi 40PIN GPIO

Compatible With Raspberry Pi Series Boards, Jetson Nano

RTK Centimeter Level Positioning
& High Update Rate

Used As Either Reference Station, Or Positioning Terminal

By setting up continuous running reference stations on ground known fixed coordinates using the ZED-F9P module, or by paid RTK base station enhanced services, transmitting GNSS observed value to ZED-F9P terminals which uploading rough positioning data, the terminals, with errors like multipath refraction, is able to calculate observed value in real time, for centimeter level positioning in seconds.

Moving Base RTK Mode Support

Moving base RTK (MB RTK) is a function that concurrently uses two or three ZED-F9P modules to output precise deflection angle, altitude, centimeter level positioning coordinate, or attitude angle. It is suitable for applications like vessel heading determination, UAV "follow me" moving and shooting, heavy machinery moving control, agriculture vehicle heading control, and so on.

Concurrent Reception Of 4 GNSS Systems

Supports GPS, Beidou, Galileo, GLONASS
And Still Retains Low Power Consumption

Augment Systems Support

Augment System Is Aimed At Improving The Accuracy, Completeness, Reliability, And Availability Of Positioning And Navigation

Supports Augment Systems Including SBAS, QZSS, IMES, D-GPS

Geo-Fencing Support

Features -167dBm Navigating Sensitivity, Outstanding Ability For Anti-Spoofing & Anti-Jamming

Software U-Center Support

An Easy Way To Config The Module

Applications

Ideal For Intelligent Driving, Precise Agriculture, UAV Application, Fleet Management, Asset Tracking, GIS App...

What's On Board

  1. ZED-F9P module
  2. TXS0108EPWR voltage translator
  3. Status indicators
    PWR: power indicator
    PPS: GPS status indicator
    RTK: RTK status indicator
    GF: geo fencing status indicator
  4. DIP switch
    1: UART/SPI selection
    2: firmware upgrade
  5. RT9193-33 power chip
  6. NDC7002N voltage translator

 

  1. Battery holder
    supports ML1220 rechargeable cell, for preserving ephemeris information and hot starts
  2. Raspberry Pi GPIO header
    for connecting with Raspberry Pi
  3. USB port
  4. UART, I2C interface
    for connecting with other MCUs
  5. GNSS antenna connector
  6. UART peripheral and IO voltage level selection jumper

Pinout Definition

Outline Dimensions

Resources & Services

WIKI: ZED-F9P_GPS-RTK_HAT

Shipping list

Weight: 0.292 kg

  1. ZED-F9P GPS-RTK HAT x1
  2. Multi-band antenna x1
  3. USB-A to Micro-B cable x1
  4. Screws pack x1
  5. 2x20PIN female header x1