GenX RTK ublox ZED-F9P Tough Fly (Tough + Helical Antenna) RTK GPS Quad-Constellation GNSS module for drones
GenX RTK F9P Tough is RTK GNSS module with U-blox ZED-F9P, IST8310 Compass. It can be used as RTK Rover or Base with external antenna. Whole package is housed in tough Aluminum casing and has USB and 2 Serial port interfaces.
GenX RTK F9P Tough with hign gain helican antenna can be used for all kinds of autonomous vehicles and provides precise centimeter level accuracy.
The GenX RTK F9P Tough can receive and track multiple GNSS systems. With state of the art multi-band RF front-end architecture, all four major GNSS constellations (GPS, GLONASS, Galileo, and BDS) can be acquired simultaneously. All satellites in view can be processed to provide an RTK navigation solution when used with correction data from RTK base. The module communicates on multiple protocols like UBX, NMEA and RTCM and can be easily integrated with any modern flight controller.
It can be configured for concurrent GPS, GLONASS, Galileo, BDS, QZSS, and SBAS reception to provide a high-performance position reporting and navigation solution. It provides exceptional sensitivity and acquisition times, and interference suppression measures enable reliable positioning even in difficult signal conditions.
Specifications
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GNSS module |
U-blox ZED-F9P |
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Compass |
IST8310 |
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Weight |
20g – Only module 24g (with 15cm MMCX Male to SMA Female Connector) 41g (with Helical antenna + 15cm MMCX Male to SMA Female Connector + Serial Connector) |
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Application |
Rover (Aircraft) or Base |
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Receiver type |
â– GPS L1C/A L2C â– Galileo E1 E5b â– GLONASS G2 G1 â– BDS B1l B2l |
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Sensitivity |
Tracking |
-163dBm |
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Reacquisition |
-147dBm |
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Time-To-First-Fix¹ |
Cold Start |
≤35 s |
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Warm Start |
20s |
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Hot Start |
1 s |
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Position accuracy² |
Autonomous |
2.0 m CEP |
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DGNSS |
0.5m CEP |
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RTK |
1cm+1ppm (Horizontal)3 |
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Accuracy of time pulse signal |
RMS |
30ns |
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Velocity accuracy |
GNSS |
0.1 m/s |
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D-GNSS |
0.05 m/s |
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Operational limits4 |
Dynamics |
≤ 4 g |
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Altitude |
18000 m |
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Velocity |
515 m/s |
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Baud Rate |
38400-230400 bps（Default 38400 bps） |
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Max navigation update rate |
10Hz |
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1. All satellites at ≥-130dBm 2. CEP, 50%, 24 hours static, ≥-130dBm, > 8SVs 3. Based on 30km, the accuracy error increases by 1cm every 10km from the base station 4. Assuming Airborne < 4 g platform |
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Pinouts Serial+I2C Port
| Pin | Label | Description |
| 1 |
VCC
|
|
| 2 | RX1 | UART 1 Data Input, TTL |
| 3 | TX1 | UART 1 Data Output, TTL |
| 4 | SCL | Compass I2C SCL Pin |
| 5 | SDA | Compass I2C SDA Pin |
| 6 | GND | GND |
Pinouts Serial+I2C Port
| Pin | Label | Description |
| 1 | VCC |
|
| 2 | RX2 | UART 2 Data Input, TTL |
| 3 | TX2 | UART 2 Data Output, TTL |
| 4 | GND | GND |
Usage with Ardupilot / PX4 / Pixhawk Based Flight Controllers
- Connect module to serial port of flight controller
|
GenX RTK F9P Tough |
Flight Controller Serial Port |
|
VCC |
VCC |
|
GND |
GND |
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TX1 |
RX |
|
RX1 |
TX |
|
SDA |
SDA |
|
SCL |
SCL |
- If using with Pixhawk Cube use GPS 2 Port, If no other GPS is connected on GPS 1 port set parameter SERIAL3_PROTOCOL to -1 or anything else than 5. You can also use Telemetry 1 or Telemetry 2 Port but make sure no other ports protocol is set to 5(GPS) except the one on which GPS is connected.
- Without RTK Base correction data module can be used as normal GPS (GNSS) module.
- When RTK Base is available the correction data can be sent to flight controller through ground station software (Mission planner / QGroundControl) and telemetry link.
Using module for GPS Altitude (Instead of barometer)
- Normal GNSS modules do not provide good accuracy in vertical direction making it unusable for altitude control and that’s why most flight controllers use barometers which measures atmospheric pressure to control altitude of aircraft.
- Change in temperature and pressure may cause large drifts in altitude in few minutes. Sometimes this may lead to inaccurate data or crash in challenging terrains.
- When RTK is available GPS can be used for GPS altitude as first option, this helps achieve control over altitude in centimeter level precision.
- However it should be set to barometer when no RTK correction data is present.
- For more details see : https://ardupilot.org/copter/docs/common-gps-for-alt.html
Using 2 modules for GPS Yaw (Instead of Magnetometer)
- For high power drones or ground vehicles where magnetic interference from motors, ESCs or external things like power line can harm stability of drones or ground vehicles, GPS yaw can be used to estimate heading.
- In this case 2 GPS modules are used on the drone and RTK base is optional. All processing is done onboard making it a more reliable system.
- Out of 2 modules used on board, one acts and moving base and second acts as rover.
- This is advance feature and should be used with caution. More documentation here : https://ardupilot.org/copter/docs/common-gps-for-yaw.html
Using as RTK Base with Survey antenna with Laptop
- Use software like Mission Planner or QGroundControl for survey and sending RTK data to flight controller over telemetry
- Advanced users can also use it with other softwares like U-Center, RTK2Go, SNIP etc. on serial connection
Using as RTK Base with Survey antenna with Android RC / Tablet / Phone
- Use QGroundControl or Mission Planner android app for sending data to drone
- It can be used with Android base RC or All in one controller like Herelink, Siyi MK15 / MK32, Skydroid H12 etc.
- For survey 3rd party app like GNSS master can be used.
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