All-in-one RTK rover positioning and navigation node for Pixhawk/ArduPilot systems. Integrates a u-blox ZED-F9P multi-band (L1/L2) high-precision GNSS receiver with an onboard RM3100 magnetometer, barometer, IMU, safety switch, buzzer, and status LEDs over DroneCAN. Provides centimeter-level real-time kinematic (RTK) positioning when paired with an RTK base station or NTRIP corrections. Designed for UAVs, robotics, surveying, and mapping systems that require robust, high-integrity GNSS with integrated sensing.
Key Highlights
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GNSS receiver: u-blox ZED-F9P multi-band (L1/L2) GNSS delivering centimeter-level accuracy in seconds, concurrent GPS/GLONASS/Galileo/BeiDou reception, fast multi-band RTK convergence, high update rates for dynamic applications, energy-efficient operation, and support for moving-base RTK heading.
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Antenna: High-performance helical GNSS antenna (dual/tri-band) connected via a standard SMA connector. Supports direct attachment of antennas up to 27.5 mm diameter; larger or external antennas may be connected using an SMA extension cable.
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RF front end: Uses the integrated u-blox ZED-F9P RF architecture, featuring built-in low-noise amplification, filtering, and advanced multi-band signal processing for robust RTK performance.
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Integrated sensors: PNI RM3100 magnetometer, InvenSense ICP-20100 barometer, and InvenSense ICM-42688-P 6-axis IMU, all published over DroneCAN for seamless integration with ArduPilot and PX4.
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Open-source and flexible: Runs ArduPilot-compatible DroneCAN peripheral firmware for plug-and-play operation with Pixhawk and other DroneCAN-enabled flight controllers.
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Safety and feedback: Tactile safety switch, buzzer, and multicolor LEDs for satellite fix, RTK state, safety state, and system status.
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USB-C port: Provides direct access to u-center for configuration, data logging, and firmware updates.
- Standard connectors: Pixhawk Standard CAN (4-pin JST-GH), Pixhawk Standard Debug (6-pin JST-SH), and USB-C.
Technical Specifications
| Sensors and Processing | |
|---|---|
| GNSS Receiver | u-blox ZED-F9P |
| Antenna | Helical GNSS antenna (L1/L2/L5) |
| Magnetometer | PNI RM3100 |
| Barometer | InvenSense ICP-20100 |
| IMU | InvenSense ICM-42688-P (6-axis) |
| MCU | STM32F412CEU6 |
| Indicators | Safety LED GNSS Sat-Fix RTK Status RGB System Status |
| Built-ins | Safety switch and buzzer |
| Interfaces | |
| DroneCAN | 1× Pixhawk Standard CAN, 4-pin JST-GH |
| UART2 (F9P) | 1× 3-pin JST-GH |
| Debug | 1× Pixhawk Standard Debug, 6-pin JST-SH |
| USB | 1× USB-C for u-center configuration |
| Electrical and Environmental | |
| Supply Voltage | 5 V |
| Current | 170 mA average 180 mA max |
| Operating Temperature | −25 to +85 °C |
| Mechanical | |
| Dimensions | 50 (L) × 40 (W) × ? (H) mm |
| Weight | ? |
| Other | |
| Country of Origin | India 🇮🇳 |
GNSS performance and bands
| Accuracy (best) | Horizontal accuracy (GNSS only): 1.0 m CEP (typical) Horizontal accuracy (RTK fixed): ~1 cm + 1 ppm (CEP) |
| Speed accuracy | 0.05 m/s |
| Navigation update rate | up to 25 Hz |
| Acquisition | Cold start 24s Hot start 2s Aided start 2s |
| Satellites (max) | 32+ |
| Sensitivity | Tracking/navigation −167 dBm Cold/hot start −148 dBm Reacquisition −160 dBm |
| Frequency bands | GPS: L1 C/A, L2C GLONASS: L1OF, L2OF BeiDou: B1I, B2I Galileo: E1B/C, E5b QZSS: L1 C/A, L2C, L5 (supported when available) SBAS: L1 (WAAS/EGNOS/MSAS/GAGAN) |
Package includes
- 1× YARI RTK ROVER module
- 1× Tri Band (L1/L2/L5) Helical GNSS Antenna
- 1× 4-pin Pixhawk Standard CAN cable
- 1× 3-pin JST-GH cable