U-blox ZED F9P Positioning Module Differential GPS RTK Positioning

1. Uses the U-Blox ZED F9P 01B module, a four-star multi-frequency high-precision positioning system.
2. Magnetic compass model IST8310, IIC interface.
3. USB interface, 2 serial ports, 5V power supply.
 
Below are the schematic diagram and PCB screenshot. The AD version source file is available for download in the attachment.
 
 
 
 
 
 
 
4. Configuration overview:
For module firmware upgrade tutorials, refer to CUAV, https://doc.cuav.net/gps/c-rtk-series/zh-hans/c-rtk-9ps/firmware.html
Note: If the upgrade fails, try unchecking the three boxes in step 3 and then clicking upgrade again.
 
The mobile and base station use the same firmware, only the configuration is different. You can manually configure it line by line; there are many tutorials online. A pre-configured file is provided here; just import it.
Testing was conducted under PX4 firmware, and the results are satisfactory (see video).
 



Note: The accuracy displayed in the ground station RTK section is the base station's convergence accuracy and will not affect the relative accuracy of the mobile terminal. It is generally set to 2m.
Fix_Type reaching RTK_Fix indicates that centimeter-level precision has been achieved. In QGC, the RTK_Fix parameter is 6.