SparkFun GPS-RTK Dead Reckoning Breakout - ZED-F9R, SMA (Qwiic)

The SparkFun Dead Reckoning Breakout SMA - ZED-F9R is a high precision, sensor fusion GPS board with equally impressive configuration options and takes advantage of u-blox's Automotive Dead Reckoning (ADR) technology. The ZED-F9R module provides a highly accurate and continuous position by fusing a 3D IMU sensor, wheel ticks, a vehicle dynamics model, correction data, and GNSS measurements.

The ZED-F9R module is a 184-channel u-blox F9 engine GNSS receiver, meaning it can receive signals from the GPS, GLONASS, Galileo, and BeiDou constellations with ~0.01 meter accuracy! That's right; such accuracy can be achieved with an RTK navigation solution when used with a correction source. Note that the ZED-F9R can only operate as a rover, so you will need to connect to a base station. The module supports the concurrent reception of four GNSS systems. The combination of GNSS and integrated 3D sensor measurements on the ZED-F9R provide accurate, real-time positioning rates of up to 30Hz.

This breakout maximizes position accuracy in dense cities or covered areas compared to other GPS modules. Even under poor signal conditions, continuous positioning is provided in urban environments and is also available during complete signal loss (e.g., short tunnels and parking garages). The ZED-F9R is the ultimate solution for autonomous robotic applications that require accurate positioning under challenging conditions.

This u-blox receiver also supports I2C (u-blox calls this Display Data Channel), making it perfect for Qwiic compatibility so we don't have to use up our precious UART ports. Utilizing our handy Qwiic system, no soldering is required to connect it to the rest of your system. However, we still have broken out 0.1"-spaced pins if you prefer a breadboard.

U-blox-based GPS products are configurable using the popular but dense Windows program called u-center. Many different functions can be configured on the ZED-F9R: baud rates, update rates, geofencing, spoofing detection, external interrupts, SBAS/D-GPS, etc. All of this can be done within the SparkFun Arduino Library!

The SparkFun ZED-F9R GPS Breakout also has an onboard rechargeable battery that provides power to the RTC on the ZED-F9R. This reduces the time-to-first fix from a cold start (~24s) to a hot start (~2s). The battery will maintain RTC and GNSS orbit data without being connected to power for plenty of time.

This product requires an antenna: Be sure to check out the related products/hookup accessories and pick a suitable SMA antenna for your project.

The SparkFun Qwiic Connect System is an ecosystem of I2C sensors, actuators, shields and cables that make prototyping faster and less prone to error. All Qwiic-enabled boards use a common 1mm pitch, 4-pin JST connector. This reduces the amount of required PCB space, and polarized connections mean you can’t hook it up wrong.


  • 2x Qwiic Connectors
  • Integrated SMA 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: 24s
    • 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 or I2C interfaces
  • Dimensions: 43.18mm x 50.8mm (1.7in x 2.0in)
  • Weight: 12.1g

SparkFun GPS-RTK Dead Reckoning Breakout - ZED-F9R, SMA (Qwiic) Product Help and Resources

SparkFun GPS-RTK Dead Reckoning ZED-F9R Hookup Guide

July 9, 2020

The u-blox ZED-F9R is a powerful GPS-RTK unit that uses a fusion of IMU, wheel ticks, a vehicle dynamics model, correction data, and GNSS measurements to provide highly accurate and continuous position for navigation in the difficult conditions. We will quickly get you set up using the Qwiic ecosystem through Arduino and Python so that you can start reading the output!

Core Skill: Programming

If a board needs code or communicates somehow, you're going to need to know how to program or interface with it. The programming skill is all about communication and code.

3 Programming

Skill Level: Competent - The toolchain for programming is a bit more complex and will examples may not be explicitly provided for you. You will be required to have a fundamental knowledge of programming and be required to provide your own code. You may need to modify existing libraries or code to work with your specific hardware. Sensor and hardware interfaces will be SPI or I2C.
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Core Skill: Electrical Prototyping

If it requires power, you need to know how much, what all the pins do, and how to hook it up. You may need to reference datasheets, schematics, and know the ins and outs of electronics.

2 Electrical Prototyping

Skill Level: Rookie - You may be required to know a bit more about the component, such as orientation, or how to hook it up, in addition to power requirements. You will need to understand polarized components.
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Comments

Looking for answers to technical questions?

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  • Member #255943 / about 3 months ago / 1

    Could you confirm the restriction of the u-blox chip? This product uses ZED-F9R-01B-00 revision. According to the u-blox, there are big gap in hardware between -01B and -02B. It means, even if we update the HPS firmware version of the ZED-F9R-01B, we can not use new functions such as support for low speed vehicles(ex. e-scooter, small robot) or CLAS. This product requires over 30km/h speed for calibration every each use. Usual mobile robot is out of target of this product. I couldn't believe this matter, but so far, my trial got the result that proofs this is correct.

    • Member #255943 / about 3 months ago / 1

      I found that this comment was wrong. I tried to run CLAS function on ZED-F9R-01B with HPS1.3 firmware and NEO-D9C, and at least, the function is working. I will try to contact u-blox again. I am sorry for making the confusion.

    • Member #872435 / about 3 months ago / 1

      Yes it is the -01B module. I have some research to do, but perhaps you know. I'm not sure by their descriptions whether the newer revisions are exclusive to their marketed descriptions. The -02B may be good with slower vehicles but not with vehicles at higher speed? It wouldn't makes sense that they maintain previous versions if the successive versions just have more functionality in addition to their original capabilities.

Customer Reviews

1 out of 5

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Dont buy this

This is a piece of crap that takes many seconds to give GPS responses when queried by the Arduino. I spent hours trying to get this piece of junk to not have 3 seconds plus latency when i queried it for data but id say one out or 10 transactions will take at least 3 seconds to respond to getPVT() what a joke, how can you navigate anything with this kind of latency!

Sorry to hear you are running into issues with your product there. This is certainly not normal behavior for this board and we can help. Please send us an E-mail at Support@SparkFun.com and we will work with you on this. Thank you!