SparkFun GPS-RTK Dead Reckoning ZED-F9R Hookup Guide
The SparkFun GPS ZED-F9R is the next iteration of u-blox's GPS offerings! This version takes advantage of dead reckoning for navigation. The u-blox ZED-F9R 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 and Python so that you can start reading the output!
To follow along with this tutorial, you will need the following materials. You may not need everything though depending on what you have. The wishlist on the left is for the ZED-F9R breakout board. The wishlist on the right includes parts for the ZED-F9R pHAT. Both include parts at a minimum to get the ZED-F9R up and running. Depending on your application, you may need additional parts for a correction source or connecting to you a vehicle to obtain heel tick/direction information. Add it to your cart, read through the guide, and adjust the cart as necessary.
If you are using the breakout board and programming in Arduino, we recommend the RedBoard Qwiic with the associated USB cable to start.
Single Board Computer
If you are using the pHAT and programming in Python, we recommend the desktop kit as it includes all the parts at a minimum to get started. Note that the Raspberry Pi 4 is power hungry so make sure that you have a sufficient power supply when using the GPS remotely. An alternative is using the Raspberry Pi Zero but it's not fast as the Raspberry Pi 4.
Additional GPS Antenna Options
Below are some other GPS Antenna options. Some of the options below have an SMA connector, so make sure to get the u.FL to SMA cable if you decide to use those. Link for that is below in the GPS accessories. If you want to try different chip antennas, then try the GNSS Antenna Evalutation Board listed below and make sure to get the u.FL to u.FL connector in the accessories. We recommend using the magnetic mount antenna so that the antenna can mount on top of a vehicle. The length of the antenna cable was also useful in mounting it.
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.
Other Qwiic Cable Accessories
There are different Qwiic cable lengths available. Depending on your application, you can adjust it to your project's specifications.
If you aren't familiar with the Qwiic system, we recommend reading here for an overview.
|Qwiic Connect System|
We would also recommend taking a look at the following tutorials if you aren't familiar with them.