Quelltext der Seite WSAL19884 – ZED-F9P GPS-RTK HAT/en

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
The ZED-F9P GPS-RTK HAT is a precision GNSS module with RTK capability that connects to a Raspberry Pi via UART. It supports multiple satellite systems and frequency bands, enables centimeter-level accuracy in RTK mode, and can operate as either a rover or a base station.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL19884 WSAL19884 – ZED-F9P GPS-RTK HAT for Raspberry Pi, Centimeter Level Accuracy, Multi-Band RTK Differential GPS Module]

== Technical overview ==
* Supported signals: GPS, SBAS, QZSS, GLONASS, BeiDou, Galileo
* Frequency bands: GPS L1C/A and L2C, SBAS, QZSS, GLONASS L1OF/L2OF, BeiDou B1I/B2I, Galileo E1B/C/E5b
* Positioning accuracy: &lt;1.5 m CEP (PVT) or 0.01 m + 1 ppm CEP (RTK)
* Acquisition time: cold start up to 24 s, hot start ~2 s
* Acquisition sensitivity: -148 dBm; tracking sensitivity: -167 dBm
* Update rate: up to 25 Hz in RTK mode, default 1 Hz
* Interfaces: UART, SPI, I2C, USB
* Operating voltage: 5 V via the 5V pin; current draw under 120 mA at 5 V

'''Commands and examples – verify before use:''' 
<syntaxhighlight lang="text">
mkdir zed-f9p && cd zed-f9p
wget https://files.waveshare.com/upload/d/d4/ZED-F9P_GPS-RTK_HAT_Code.zip
unzip ZED-F9P_GPS-RTK_HAT_Code.zip
cd python
sudo pip3 install pynmeagps
sudo python3 main.py -u psi_user -p psi -2 landsd-gncaster.realtime.data.gov.hk 2101 T430_32
</syntaxhighlight>

== Notes and version constraints ==
* The demo commands use test credentials from a specific NTRIP service; other regions require their own account details.
* For Windows PC usage, u-center must be installed; the exact steps depend on the chosen base-station provider.
* The “Moving Base and Rover” section lacks configuration details for the MB module; additional information from the full manual is needed.
* The listed commands assume the hardware serial port has been enabled on the Raspberry Pi.

== Source and revision record ==
* [https://www.waveshare.com/wiki/ZED-F9P_GPS-RTK_HAT ZED-F9P GPS-RTK HAT - Waveshare Wiki]
* Source revision: 86607
* Captured: 2026-09-02T02:58:13+00:00
* SHA-256: <code>fb282dbe5d3ea2974579fbb56ff6219cc9fb4b27c0fd9addbe20886e9c3647eb</code>