Holybro H-RTK ZED-F9P Rover - CAN 12059

Overview

The H-RTK ZED-F9P Rover is an upgraded version of the original H-RTK F9P Rover. This RTK GPS features the u-blox ZED-F9P GNSS receiver, RM3100 Compass, and a tri-colored LED indicator, providing precise positioning and orientation data. It also boasts an IP66 rating, offering robust protection against dust and water, making it suitable for challenging environments.

This RTK GPS offers multi-band RTK capabilities with rapid convergence times and consistent performance. It supports concurrent reception of GPS (L1 & L2), GLONASS, Galileo, and BeiDou signals, ensuring reliable and precise positioning. This RTK GPS can delivers centimeter-level accuracy. Additionally, there is also a DroneCAN option that offers MCU, IMU, barometer, and robust communication and integration for advanced UAV systems.

The high-precision PNI RM3100 compass ensures accurate orientation and stability, offering exceptional reliability, making it ideal for demanding UAV applications. It provides high resolution, low power consumption, large signal noise immunity, a large dynamic range, and high sampling rates. Its measurements are stable over temperature and inherently free from offset drift.

RTK Testing & Comparison: Big GPS Round Up by Andrew Tridgell (Ardupilot)

Features

• Advanced GNSS Receiver: Equipped with the high precision u-blox ZED-F9P GNSS receiver.
• Integrated RM3100 Compass: Accurate orientation accuracy and stability.
• High-Gain Antenna: Integrated large high-gain dual-band stacked patch antenna for enhanced signal reception across GNSS frequencies.
• Durable Design: IP66-rated for protection against dust and water, suitable for harsh environments.
• Advanced Filtering & Amplification: Utilized Hybrid Coupler + SAW + LNA + Hybrid Coupler architecture, ensuring superior signal clarity and interference rejection.
• Robust EMI Shielding: Ensures consistent signal integrity by minimizing the impact of electromagnetic interference.
• Versatile Installation: Easily mount this GPS on a flat surface or with an elevated mount for optimal positioning.
• DroneCAN Option: Offers MCU, IMU, barometer, and robust communication for advanced UAV systems.

Product Model
SKU	SKU12054	SKU12058	SKU12059
Connector Type	GH1.25 10pin cable	GH1.25 6pin cable	GH1.25 4pin cable
Applicable Ports	Holybro GPS1 Port	Holybro or Cubepilot GPS2 Port	Pixhawk CAN Port
Communication Protocol	UART	UART	DroneCAN
MCU IMU Barometer	N/A	N/A	STM32G4 ICM42688 ICP20100
Magnetometer	High precision, Low Noise RM3100 Compass
Application	Moving Station (Aircraft, Ground Vehicle, Marine Vehicle, etc)
GNSS Receiver	U-blox ZED-F9P High Precision GNSS Receiver
GNSS Band	GPS: L1C/A and L2C GLONASS: L1OF and L2OF Galileo: E1-B/C and E5b BeiDou: B1I and B2I QZSS: L1C/A and L2C
Number of concurrent GNSS	4
Heading accuracy	0.4 degrees
Positioning Accuracy	Horizontal & Vertical: RTK 0.01m +1ppm CEP
Antenna	Dual-Band Stacked Ceramic Patch Antenna ( 47.5*47.5*4mm) 20.5±1dB LNA Gain (typical)
Antennas Peak Gain (MAX)	L1: 4.0dBi L2:1.0 dBi
Acquisition	Hot Start: 2s Aided starts: 2s Cold starts: 25s
Data and Update Rate	RAW: 20Hz Max RTK: 8Hz Max Moving Base RTK: 5Hz Max
Maximum altitude	80,000 m
Maximum speed	500 m/s
Sensitivity	Tracking & Navigation: –167 dBm Cold starts: –148 dBm Hot starts: –157 dBm Reacquisition: –160 dBm
Timepulse	Configurable from 0.25hz to 10mhz
Protocols	NMEA、UBX binary、RTCM 3.3
Filtering & Amplication	Triple SAW + LNA Filtering for Precise Signal Filtering & Signal Amplification Double Hybrid Coupler for Efficient Signal Coupling
Anti-jamming	Active CW Detection and Removal Onboard Band Pass Filter
Anti-spoofing	Advanced Anti-spoofing Algorithms
Cable Length	40cm
Baud rate:	115200 5Hz (default) can be set
Working Temperature	-40 °C to +85 °C
Working voltage:	4.75V~5.25V
Current Consumption	~250mA
Dimensions	Diameter: 78mm Height: 22mm
IP Rating	IP66 (Test Report)
Weight	117g

Sample Wiring Diagram

Reference Links

• Change Log From Pervious Versions
• RTK Testing & Comparison by Andrew Tridgell (Ardupilot)
• User Guide: Setup & Getting started (Ardupilot)
• User Guide: Setup & Getting started (PX4)
• GPS Heading/Yaw (Aka Moving baseline) Guide
• Pinout
• Dimensions
• Downloads

• For other technical details and user guide, please see the documentation Page here.

Package Included:

• 1x H-RTK ZED-F9P Rover
• 1x GPS UART to USB Converter (For SKU12054,12058)
• 1x Fixed Carbon Fiber GPS mount