Beitian BT-F9P Series RTK GNSS Module (ZED-F9P) Centimeter-Level Positioning for Drones & Surveying

Overview

The Beitian BT-F9P series RTK GNSS module is a centimeter-level positioning RTK GNSS module designed for navigation, surveying/positioning, and precision agriculture applications, and is available in multiple board models (BT-F9PK1/BT-F9PK2/BT-F9PK3/BT-F9PK4/BT-F9PK7/BT-F9PK8). It is labeled as a ZED-F9P centimeter-level high-precision GNSS positioning board and supports multi-constellation, dual-band GNSS reception (GPS/GLONASS/BDS/GALILEO/QZSS).

Key Features

• Multi-GNSS and dual-band reception: GPS L1/L2, GLONASS G1/G2, BDS B1/B2, GALILEO E1/E5b, QZSS L1/L2
• 184 searching channels
• RTK accuracy: 0.01 m + 1 ppm CEP (horizontal); 0.01 m + 1 ppm CEP (vertical)
• Single point accuracy: 1.5 m CEP (horizontal); 1.5 m CEP (vertical)
• Velocity accuracy: 0.05 m/s
• Heading accuracy: 0.4 deg when the antenna baseline length is 1 meter; dynamic heading accuracy: 0.3 deg
• Update rate: 0.25 Hz to 20 Hz (default 1 Hz)
• Protocols: NMEA-0183, UBX, RTCM; NMEA messages: RMC, VTG, GGA, GSA, GSV, GLL
• Output level: TTL level or RS-232 level (default TTL level)
• Support rate (baud): 4800 bps to 921600 bps (default 38400 bps)
• 4M FLASH for permanent configuration storage
• 1PPS: RMS 30 ns; 99% 60 ns; configurable 0.25 Hz to 10 MHz (default cycle 1 s, high level lasts 100 ns)
• RAWX: supports Multi-GNSS raw measurement data output

Specifications

GNSS / Performance

Data Output

Operational Limits / Power / Environment

LED Indicators

• Power LED: Red LED will always be on when there is a voltage input
• TX LED: Blue LED flashing when the data output
• 1PPS LED: Red LED not bright when not fixed, flashing when fixed
• RTK LED: Off when the mobile terminal does not enter RTK mode; flashes in RTK Float mode; always on in RTK Fixed mode. (Base station is not lit regardless of any status.)

Model Options (Board Variants)

Available model selections shown for this series include: BT-F9PK1, BT-F9PK2, BT-F9PK3, BT-F9PK4, BT-F9PK7, BT-F9PK8 (additional shop options may also be listed).

Interfaces & Pin Definition (BT-F9PK2 board drawing)

• Antenna connector types referenced: SMA, MMCX, IPEX (board drawing shows IPEX and SMA-K)
• Micro USB
• Connector J1: 1.25 6P
• Connector J2: 1.25 6P

Connector J1 (1.25 6P)

Connector J2 (1.25 6P)

Micro USB

Integration Notes (from provided board notes)

• Supported signals stated: GPS L1C/A, L2C; GLONASS L1OF, L2OF; GALILEO E1B/C, E5b; BDS B1I/B2I.
• General interface: J2 is used to input RTCM data; J1 outputs NMEA data.
• VCC of J1, J2 and Micro USB interfaces are interconnected; power can be supplied from one of them.
• If using TTL level, keep R16-R19 empty; if using RS-232 level, R16-R19 must be 0 ohm resistance.
• Default baud rate is 38400 bps. If the data update rate is increased, the baud rate needs to be increased accordingly to avoid excessive data volume. A recommendation is provided that the frequency should not exceed 5 Hz.
• When used as a base station module, configure it as base station mode; when used as a moving rover GNSS receiver, no settings are required (as stated).

Optional Kits (selection-dependent)

Some listings reference optional combinations (contents depend on the selected option/model):

• Helix Combo: BT-F9PK2 + BT-560 + SMA male to female cable + two single-ended cables + PL2303HXD USB debugging cable
• Mushroom Head Combo: BT-F9PK2 + BT-300 antenna + TNC to SMA 5 m cable + two single-ended cables + PL2303HXD USB debugging cable + small base stud
• Laminated Combo: BT-F9PK2 + laminated antenna + SMA male to female cable + two single-ended cables + PL2303HXD USB debugging cable
• External combo with fixing holes: BT-F9PK2 + external antenna with fixed hole + two single-ended cables + PL2303HXD USB debugging cable
• External Combo: BT-F9PK2 + external antenna + two single-ended cables + PL2303HXD USB debugging cable
• Single Board: BT-F9PK4 + PL2303HXD USB debugging cable + two single-ended cables
• "10km data transmission module combo": (transmitting) data transmission module + power cable + DB9 data cable + big suction cup antenna + (receiving) data transmission module + single head cable + suction cup antenna
• "3km digital transmission module combo": (receiving) data transmission module + single head cable + suction cup antenna + (transmitting) data transmission module + single head cable + suction cup antenna

Applications

• Precision agriculture
• Surveying and positioning
• Deformation monitoring
• Industrial machinery
• Pile foundation construction
• Earth-moving equipment positioning

Support

For selection guidance (model/connector choice) and integration support, contact support@rcdrone.top or visit https://rcdrone.top/.

Details

Pick the BT-F9P board version that matches your project’s interface and integration needs, then build out a base/rover RTK setup.

Key performance, power, and interface specs are summarized for quick evaluation before integration.

Fast RTK entry and higher update rates help deliver smoother positioning for drones, robotics, and surveying workflows.

Multiple antenna connection options and a compact footprint make the module easy to fit into tight enclosures and airframes.

Works across common operating systems and supports flexible switching between base station and rover roles.

Wired links or wireless telemetry can be used to pass RTCM corrections from a base to a rover depending on range and setup.

Clear pin definitions simplify wiring for UART data, power, and USB during prototyping and final installation.

Bundle options include the module plus common antenna and cable sets to speed up bench testing and field deployment.

Choose a minimal single-board pack or an external-antenna kit based on how you plan to mount the GNSS antenna.

Add-on radio transmission kits are available for longer-distance correction links when building an RTK base-and-rover system.