Overview

The DroneCAN H-RTK F9P is the latest differential high-precision GNSS positioning system from Holybro. It has adopted the DroneCAN protocol for communication. It provides multi-band RTK with fast convergence times and reliable performance, concurrent reception of GPS, GLONASS, Galileo and BeiDou, and a fast update rate for highly dynamic and high volume applications with centimeter-accuracy. 

With the adoption of the DroneCAN Protocol, it has up to an 8 Hz navigation update rate, upgradeability, noise immunity, real-time features, and is more robust than UART due to its increased resistance to electromagnetic interference. It does not occupy any serial port of the flight controller, and multiple CAN devices can be connected to the same CAN bus via a hub.

The DroneCAN-F9P uses a u-blox ZED-F9P module, a BMM150 compass, and a tri-colored LED indicator, and is equipped with the STM32G4 processor running at 170 MHz with 512 KByte Flash and 96KByte RAM. It supports DroneCAN firmware upgrade via the DroneCAN GUI Tool. It is compatible with the open source Pixhawk series flight controller.

RTK Testing & Comparison: Big GPS Round Up by Andrew Tridgell (Ardupilot)

Features

We have designed two models of DroneCAN H-RTK F9P for you to choose, each with different size and antenna design to meet different customer needs. 

DroneCAN F9P Rover The Rover model has a flatter profile and stronger water resistance. It uses a dual band patch antenna and comes with an integrated cable to connect to the CAN bus. It excels in spaces where there are few obstructions. You can find purchase link for this product here

DroneCAN F9P Helical This model uses a helical antenna, which has slightly better performance in space with obstructions than the Rover version. The antenna of this module can either be attached to the module directly or connected via a SMA cable, giving you the ultimate flexibility. It also has a UART2 port exposed, allowing you to do YAW/Heading (aka moving baseline). You can find the purchase link of this product here

High-Precision GNSS Module for Rover (Aircraft) Applications
1. Intended Application:
Rover (Aircraft) Only

2. GNSS Receiver & Antenna:
GNSS Receiver: u-blox ZED-F9P High-Precision GNSS Module

Antenna Type: Ceramic Patch Antenna with 20 dB LNA

3. Processor & Magnetometer:
Processor: STM32G473

Magnetometer: BMM150 or IST8310

4. GNSS & Positioning:
Supported GNSS Systems:

BeiDou, Galileo, GLONASS, GPS / QZSS

GNSS Bands:

B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF

Positioning Accuracy:

3D FIX: 1.5 m

RTK: 0.01 m

5. Communication & Protocols:
Communication Protocol: DroneCAN (1 Mbit/s)

6. Antenna Performance:
Antennas Peak Gain (Max):

L1: 4.0 dBi

L2: 1.0 dBi

7. Acquisition & Navigation Performance:
Time-To-First Fix:

Cold Start: ≤ 29s

Hot Start: ≤ 1s

Navigation Update Rate:

RAW: 20 Hz Max

RTK: 8 Hz Max

8. Power & Environmental Specifications:
Working Voltage: 4.75V ~ 5.25V

Current Consumption: ~250 mA

Operating Temperature: -20°C to 85°C

9. Physical Dimensions & Weight:
Cable Length: 27 cm or 50 cm

Antenna Connection Type: N/A

Dimensions:

Diameter: 80 mm

Height: 20 mm

Weight: 123 g