SparkFun GPS-RTK Dead Reckoning pHAT for Raspberry Pi (ZED-F9R)

Welcome to the future of GPS technology with the SparkFun ZED-F9R GPS pHAT. This isn’t just any GPS board; it’s a high-precision, sensor fusion marvel that boasts top-tier configuration options and leverages u-blox’s cutting-edge Automotive Dead Reckoning (ADR) technology.

Stellar Accuracy and Performance

Equipped with the ZED-F9R module, this pHAT is a powerhouse. Featuring an 184-channel u-blox F9 engine GNSS receiver, it can tap into GPS, GLONASS, Galileo, and BeiDou constellations, delivering jaw-dropping accuracy of approximately 0.01 meters! This precision is achievable through RTK navigation when paired with a correction source. Keep in mind, the ZED-F9R functions solely as a rover, necessitating a connection to a base station. It supports simultaneous reception from four GNSS systems, and its fusion of GNSS and 3D sensor data ensures real-time positioning at up to 30Hz.

Unwavering Performance in Challenging Environments

Urban jungles and dense areas are no match for the ZED-F9R. This module excels where others falter, maintaining continuous, accurate positioning even under poor signal conditions or complete signal loss—think short tunnels and parking garages. It’s the go-to solution for autonomous robotic applications demanding pinpoint accuracy in tough settings.

Easy Integration and Versatile Compatibility

Integrating the ZED-F9R with your setup is a breeze. It uses the Raspberry Pi’s serial UART for communication and comes with pre-soldered headers—no soldering needed! Stack it onto a Raspberry Pi, NVIDIA Jetson Nano, Google Coral, or any 2×20 form factor single-board computer effortlessly. Plus, a few 0.1″-spaced pins and a Qwiic connector are broken out for those needing additional connections.

Comprehensive Configuration Options

The ZED-F9R is configurable through the feature-rich, albeit dense, u-center software. Adjust baud rates, update rates, set up geofencing, spoofing detection, and more. Tinker to your heart’s content and tailor the module to your specific needs.

Rapid Start with Onboard Battery

Say goodbye to long wait times. The ZED-F9R includes an onboard rechargeable battery powering the RTC, slashing the time-to-first fix from ~24 seconds (cold start) to a mere ~2 seconds (hot start). It maintains RTC and GNSS orbit data even when not connected to power, keeping you ready to go at a moment’s notice.

The SparkFun ZED-F9R GPS pHAT is also equipped with an on-board rechargeable battery that provides power to the RTC on the ZED-F9R. This reduces the time-to-first fix from a cold start (~24s) to a hot start (~2s). The battery will maintain RTC and GNSS orbit data without being connected to power for plenty of time.

This product requires an antenna: Any GNSS receiver will be fine, this board uses a U.FL antenna connector but you can also use an adaptor if needed

Features

• 1x Qwiic Connector
• Integrated U.FL connector for use with antenna of your choice
• Concurrent reception of GPS, GLONASS, Galileo and BeiDou
• 184-Channel GNSS Receiver
• Receives both L1C/A and L2C bands
• Horizontal Position Accuracy:
  • 0.01m with RTK
• Max Navigation Rate: Up to 30Hz
• Time to First Fix
  • Cold: 24s
  • Hot: 2s
• Operational Limits
  • Max G: ≤4G
  • Max Altitude: 80km (49.7 miles)
  • Max Velocity: 500m/s (1118mph)
• Velocity Accuracy: 0.5m/s
• Heading Accuracy: 0.2 degrees
• Built-In Accelerometer and Gyroscope
• Time Pulse Accuracy: 30ns
• Voltage: 5V or 3.3V but all logic is 3.3V
  • Current: ~85mA to ~130mA (varies with constellations and tracking state)
• Software Configurable
  • Geofencing
  • Odometer
  • Spoofing Detection
  • External Interrupt
  • Pin Control
  • Low Power Mode
  • Many others!
• Supports NMEA, UBX, and RTCM protocols over UART
• Board Dimensions: 65.00mm x 56.50 mm (2.56″ x 2.22″)
• Weight: 20.70g

Documents

• Schematic (v11)
• Eagle Files (v11)
• Board Dimensions
• Hookup Guide
• ZED-F9R Datasheet
• Product Summary
• Integration Manual
• u-blox Interface Description
• u-blox ECCN
• GPS Python Module
  • ReadtheDocs Documentation
• GitHub Hardware Repo
• Raspberry Pi Resource Page