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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.

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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: <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:  

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

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

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