GPS-RTK Dead Reckoning pHAT - GNSS module with ZED-F9R system for Raspberry Pi

Description

The GNSS module with the u-blox ZED-F9R system is a device that combines data from the GPS system with Automotive Dead Reckoning (ADR) technology from u-blox. It provides extremely accurate positioning by combining data with the 3D IMU sensor, wheel rotation readings, vehicle dynamics model, correction data and GNSS measurements.

The ZED-F9R is a 184-channel u-blox F9 Engine GNSS receiver that can receive signals from the GPS, GLONASS, Galileo and BeiDou constellations with an accuracy of approximately 0.2 meters. This precision is achievable in RTK navigation systems using a correction source. It should be noted that the ZED-F9R module can only function as a rover, so a connection to a base station is necessary. The module supports simultaneous reception of signals from four GNSS systems. The combination of GNSS with built-in 3D measurements on the ZED-F9R module allows you to achieve accurate positions in real time at a frequency of up to 30 Hz.

Compared to other GPS modules, ZED-F9R significantly increases positioning accuracy in densely built-up cities or areas with limited access to a satellite signal. Even in difficult signal conditions, the device ensures continuous positioning in urban environments and maintains its position even in the event of complete signal loss (e.g. in short tunnels and underground parking lots). It is an ideal solution for robotic applications that require accurate positioning in difficult conditions.

The u-blox receiver communicates via an UART interface. GNSS modules based on u-blox systems can be configured using the popular u-center program. The board is also equipped with a built-in battery that powers the real-time clock (RTC). This reduces the time to obtain the first correct position in the case of a cold start (approximately 26 seconds) to that of a hot start (approximately 2 seconds). The battery maintains RTC and GNSS orbit data for long periods, even after power loss.

Features

• Qwiic Connectors
• 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: 26s
  • Hot: 2s
• Operational Limits
  • Max G: ≤4G
  • Max Altitude: 80km (49.7 miles)
  • Max Velocity: 500m/s (1118mph)
• Velocity Accuracy: 0.05m/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 interfaces
• Dimensions: 65 x 56.5 mm