SparkFun GPS-RTK Dead Reckoning ZED-F9K Hookup Guide

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Contributors: bboyho, Elias The Sparkiest
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Introduction

The SparkFun GPS ZED-F9K takes advantage of dead reckoning for navigation. The u-blox ZED-F9K 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. so that you can start reading the output!

SparkFun GNSS-RTK Dead Reckoning Breakout - ZED-F9K (Qwiic)

GPS-18719
Retired

Required Materials

To follow along with this tutorial, you will need the following materials at a minimum. You may not need everything though depending on what you have. Depending on your application, you may need additional parts for a correction source or connecting to you a vehicle to obtain wheel tick/direction information. Add it to your cart, read through the guide, and adjust the cart as necessary.

Microcontroller

If you are using the breakout board and programming in Arduino, we recommend the SparkFun Thing Plus - ESP32 WROOM with the associated USB cable to start.

SparkFun Thing Plus - ESP32 WROOM (Micro-B)

SparkFun Thing Plus - ESP32 WROOM (Micro-B)

WRL-15663
$22.50
14
Qwiic Cable - 100mm

Qwiic Cable - 100mm

PRT-14427
$1.50
Reversible USB A to Reversible Micro-B Cable - 2m

Reversible USB A to Reversible Micro-B Cable - 2m

CAB-15427
$6.50
2

Antenna

We recommend using the magnetic mount antenna for the full RF reception and mounting it on top of a vehicle. The antenna uses an SMA connector so you can direclty connect it to the breakout board. Link for that is below in the antenna accessories. The length of the antenna cable was also useful in mounting it.

GNSS L1/L2 Multi-Band Magnetic Mount Antenna - 5m (SMA)

GNSS L1/L2 Multi-Band Magnetic Mount Antenna - 5m (SMA)

GPS-15192
$72.95
1
GNSS Multi-Band L1/L2 Surveying Antenna - TNC (TOP106)

GNSS Multi-Band L1/L2 Surveying Antenna - TNC (TOP106)

GPS-17751
$133.95
15
MagmaX2 Active Multiband GNSS Magnetic Mount Antenna - AA.200

MagmaX2 Active Multiband GNSS Magnetic Mount Antenna - AA.200

GPS-17108
$83.50

GNSS Multi-Band L1/L2 Helical Antenna (SMA) BT-560

GPS-17383
3 Retired

GPS Antenna Accessories

Depending on your antenna, you will need an adapter to connect to the GPS-RTK's u.FL connector. If you need more than the metal from the top of a vehicle or are mounting it on a robot that does not have the necessary ground plane, you can use the GPS antenna ground plate to improve your GPS antenna's performance. If you are using the GNSS Multi-Band L1/L2 Surveying Antenna (TNC) - TOP106, you'll need to grab the interface cable.

GPS Antenna Ground Plate

GPS Antenna Ground Plate

GPS-17519
$6.95

Interface Cable - SMA Male to TNC Male (300mm)

CAB-17833
Retired

Other Qwiic Cable Accessories

There are different Qwiic cable lengths available. Depending on your application, you can adjust it to your project's specifications.

SparkFun Qwiic Cable Kit

SparkFun Qwiic Cable Kit

KIT-15081
$8.95
22
Qwiic Cable - 100mm

Qwiic Cable - 100mm

PRT-14427
$1.50
Qwiic Cable - 50mm

Qwiic Cable - 50mm

PRT-14426
$0.95

Qwiic Cable - 200mm

PRT-14428
Retired

Suggested Reading

If you aren't familiar with the Qwiic system, we recommend reading here for an overview.

Qwiic Connect System
Qwiic Connect System

We would also recommend taking a look at the following tutorials if you aren't familiar with them.

GPS Basics

The Global Positioning System (GPS) is an engineering marvel that we all have access to for a relatively low cost and no subscription fee. With the correct hardware and minimal effort, you can determine your position and time almost anywhere on the globe.

Serial Peripheral Interface (SPI)

SPI is commonly used to connect microcontrollers to peripherals such as sensors, shift registers, and SD cards.

I2C

An introduction to I2C, one of the main embedded communications protocols in use today.

How to Work with Jumper Pads and PCB Traces

Handling PCB jumper pads and traces is an essential skill. Learn how to cut a PCB trace, add a solder jumper between pads to reroute connections, and repair a trace with the green wire method if a trace is damaged.

Getting Started with U-Center for u-blox

Learn the tips and tricks to use the u-blox software tool to configure your GPS receiver.

ESP32 Thing Plus Hookup Guide

Hookup guide for the ESP32 Thing Plus (Micro-B) using the ESP32 WROOM's WiFi/Bluetooth system-on-chip in Arduino.