Waveshare ZED‑F9P GPS‑RTK HAT is a high‑precision positioning expansion board designed for Raspberry Pi, Jetson Nano, Arduino, and STM32 platforms. Powered by the u‑blox ZED‑F9P GNSS module , it supports multi‑constellation GNSS (GPS, BeiDou, GLONASS, Galileo, QZSS) and delivers centimeter‑level accuracy with RTK (Real‑Time Kinematic) technology . Featuring UART and USB interfaces , onboard antenna connectors , and LED indicators , this HAT enables reliable real‑time positioning, navigation, and timing for advanced IoT and robotics applications.
Features
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Centimeter‑level accuracy with RTK support
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Multi‑band GNSS: GPS, BeiDou, GLONASS, Galileo, QZSS
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Dual‑band reception for improved reliability
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UART/USB interfaces for Raspberry Pi and embedded controllers
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Antenna connectors for flexible GNSS setup
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LED indicators for positioning and status monitoring
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Compact HAT design for easy integration
Specifications
| GNSS specifications | |||||||
|---|---|---|---|---|---|---|---|
| ZED-F9P | concurrent receiving | ||||||
| GPS GLONASS Galileo BeiDou | GPS GLONASS Galileo | GPS Galileo | GPS GLONASS | GPS BeiDou | GPS | ||
| Frequency band | u-blox F9 platform GPS L1C/A L2C, SBAS, QZSS, GLONASS L1OF L2OF, BeiDou B1I B2I, Galileo E1B/C E5b | ||||||
| Max navigation update rate | RTK | 8Hz | 10Hz | 15Hz | 15Hz | 15Hz | 20Hz |
| PVT | 10Hz | 12Hz | 20Hz | 25Hz | 25Hz | 25Hz | |
| RAW | 20Hz | 20Hz | 25Hz | 25Hz | 25Hz | 25Hz | |
| RTK convergence time | <10s | <10s | <10s | <10s | <10s | <30s | |
| Time-To-First-Fix | Cold starts | 24s | 25s | 29s | 26s | 28s | 29s |
| Hot starts | 2s | 2s | 2s | 2s | 2s | 2s | |
| Aided starts | 2s | 2s | 2s | 2s | 2s | 2s | |
| Positioning accuracy | PVT | 1.5m CEP | |||||
| RTK (horizontal and vertical) | 0.01m+1ppm CEP | ||||||
| Sensitivity | Tracking and navigating | -167 dBm | |||||
| Re-acquisition | -160 dBm | ||||||
| Cold starts | -148 dBm | ||||||
| Hot starts | -157 dBm | ||||||
| Velocity accuracy | 0.05 m/s | ||||||
| Heading accuracy | 0.3 degree | ||||||
| PPS accuracy | RMS | 30ns | |||||
| 99% | 60ns | ||||||
| Jamming | ±11ns | ||||||
| PPS frequency | 0.25Hz ~ 10MHz (configurable) | ||||||
| Operational limits | Acceleration (max): 4g | ||||||
| Altitude (max): 50000m | |||||||
| Velocity (max): 500m/s | |||||||
| Other specifications | |||||||
| Communication interface | USB, UART (4800~921600bps, 9600bps by default), I2C (max 400KHz), SPI (5MHz) | ||||||
| Protocol | NMEA 0183 Version 4.10, UBX, RTCM 3.3 | ||||||
| Power supply | 5V | ||||||
| Overall current | < 120mA@5V (continue mode) | ||||||
| Module current | 130mA@3V max (tracking status) | ||||||
| Operating temperature | -40℃ ~ 85℃ | ||||||
| Dimensions | 65mm × 30.5mm | ||||||
Application
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Autonomous Robots & Drones: Precise navigation and path planning
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Agriculture & Surveying: High‑accuracy field mapping and land measurement
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Fleet Management & Tracking: Centimeter‑level vehicle positioning
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Smart City & IoT: Infrastructure monitoring and location‑based services
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Industrial Automation: Accurate machine guidance and synchronization
Part List
- ZED-F9P GPS-RTK HAT x1
- Multi-band antenna x1
- USB-A to Micro-B cable x1
- Screws pack x1
- 2x20PIN female header x1
Standard Raspberry Pi 40PIN GPIO
Compatible with Raspberry Pi series boards, Jetson Nano
RTK centimeter level positioning & high update rate
Used as either reference station, or positioning terminal
By setting up continuous running reference stations on ground known fixed coordinates using the ZED-F9P module, or by paid RTK base station enhanced services, transmitting GNSS observed value to ZED-F9P terminals which uploading rough positioning data, the terminals, with errors like multipath refraction, is able to calculate observed value in real time, for centimeter level positioning in seconds.
Moving base RTK mode support
Moving base RTK (MB RTK) is a function that concurrently uses two or three ZED-F9P modules to output precise deflection angle, altitude, centimeter level positioning coordinate, or attitude angle. It is suitable for applications like vessel heading determination, heavy machinery moving control, agriculture vehicle heading control, and so on.
Concurrent reception of 4 GNSS systems
Supports GPS, Beidou, Galileo, GLONASS and still retains low power consumption
Augment systems support
Augment system is aimed at improving the accuracy, completeness, reliability, and availability of positioning and navigation
Supports augment systems including SBAS, QZSS, IMES, D-GPS
Geo-fencing support
Features -167dBm navigating sensitivity, outstanding ability for anti-spoofing & anti-jamming
Software U-Center support
An easy way to config the module
Applications
Ideal for intelligent driving, precise agriculture, fleet management, asset tracking, GIS app...
What's on board
- ZED-F9P module
- TXS0108EPWR voltage translator
- Status indicators
PWR: power indicator
PPS: GPS status indicator
RTK: RTK status indicator
GF: geo fencing status indicator - DIP switch
1: UART/SPI selection
2: firmware upgrade - RT9193-33 power chip
- NDC7002N voltage translator
- Battery holder
supports ML1220 rechargeable cell, for preserving ephemeris information and hot starts - Raspberry Pi GPIO header
for connecting with Raspberry Pi - USB port
- UART, I2C interface
for connecting with other MCUs - GNSS antenna connector
- UART peripheral and IO voltage level selection jumper
Pinout definition