Holybro H-RTK ZED-F9P Rover GNSS with RM3100 Compass & Dual-Band Antenna – IP66 RTK GPS Module for UAVs (DroneCAN/UART)

Overview

The Holybro H-RTK ZED-F9P Rover is a high-performance RTK GNSS module designed for UAVs, robotics, marine vessels, and ground vehicles requiring centimeter-level positioning and precise orientation. It integrates the u-blox ZED-F9P multi-band GNSS receiver, high-precision PNI RM3100 compass, and a durable IP66-rated enclosure, ensuring robust performance in harsh outdoor conditions.

With support for GPS (L1C/L2C), GLONASS, Galileo, BeiDou, and QZSS, and capable of handling four concurrent GNSS systems, the ZED-F9P Rover delivers reliable, high-frequency RTK corrections. The DroneCAN version further integrates an STM32G4 MCU, ICM42688 IMU, and ICP20100 barometer, offering seamless sensor fusion and enhanced integration for advanced drone systems.

Key Features

• u-blox ZED-F9P GNSS Receiver
  Multi-constellation, dual-band RTK receiver supporting L1/L2 bands for centimeter-level accuracy.

• High Precision RM3100 Compass
  Provides accurate, drift-free heading data with exceptional noise immunity and temperature stability.

• Dual-Band Patch Antenna
  Built-in stacked ceramic antenna (47.5×47.5mm) with L1: 4.0dBi and L2: 1.0dBi peak gain and 20.5 ±1dB LNA gain for excellent signal reception.

• Advanced Signal Filtering & EMI Protection
  Includes triple SAW filters, LNA, hybrid coupler, and onboard band-pass filters for clean GNSS signals, even in noisy environments.

• DroneCAN Option
  Embedded STM32G4 processor, ICM42688 IMU, and barometer enable CAN-based integration, ideal for professional autopilots.

• Rugged IP66 Design
  Weatherproof and dustproof, suitable for long-term deployment in extreme outdoor conditions.

✅ZED-F9P vs. NEO-F9P Rover – What's the Difference?

Choose ZED-F9P Rover for higher gain, more robust multi-band RTK, and rugged UAV integrations. Choose NEO-F9P Rover for compact UAV platforms where size and weight are critical.

Product Model
SKU	SKU12054	SKU12058	SKU12059
Connector Type	GH1.25 10pin cable	GH1.25 6pin cable	GH1.25 4pin cable
Applicable Ports	Holybro GPS1 Port	Holybro or Cubepilot GPS2 Port	Pixhawk CAN Port
Communication Protocol	UART	UART	DroneCAN
MCU IMU Barometer	N/A	N/A	STM32G4 ICM42688 ICP20100
Magnetometer	High precision, Low Noise RM3100 Compass
Application	Moving Station (Aircraft, Ground Vehicle, Marine Vehicle, etc)
GNSS Receiver	U-blox ZED-F9P High Precision GNSS Receiver
GNSS Band	GPS: L1C/A and L2C GLONASS: L1OF and L2OF Galileo: E1-B/C and E5b BeiDou: B1I and B2I QZSS: L1C/A and L2C
Number of concurrent GNSS	4
Heading accuracy	0.4 degrees
Positioning Accuracy	Horizontal & Vertical: RTK 0.01m +1ppm CEP
Antenna	Dual-Band Stacked Ceramic Patch Antenna ( 47.5*47.5*4mm) 20.5±1dB LNA Gain (typical)
Antennas Peak Gain (MAX)	L1: 4.0dBi L2:1.0 dBi
Acquisition	Hot Start: 2s Aided starts: 2s Cold starts: 25s
Data and Update Rate	RAW: 20Hz Max RTK: 8Hz Max Moving Base RTK: 5Hz Max
Maximum altitude	80,000 m
Maximum speed	500 m/s
Sensitivity	Tracking & Navigation: –167 dBm Cold starts: –148 dBm Hot starts: –157 dBm Reacquisition: –160 dBm
Timepulse	Configurable from 0.25hz to 10mhz
Protocols	NMEA、UBX binary、RTCM 3.3
Filtering & Amplication	Triple SAW + LNA Filtering for Precise Signal Filtering & Signal Amplification Double Hybrid Coupler for Efficient Signal Coupling
Anti-jamming	Active CW Detection and Removal Onboard Band Pass Filter
Anti-spoofing	Advanced Anti-spoofing Algorithms
Cable Length	40cm
Baud rate:	115200 5Hz (default) can be set
Working Temperature	-40 °C to +85 °C
Working voltage:	4.75V~5.25V
Current Consumption	~250mA
Dimensions	Diameter: 78mm Height: 22mm
IP Rating	IP66 (Test Report)
Weight	117g

Details

Holybro H-RTK ZED-F9P Rover has u-blox GNSS, RTK positioning, RM3100 compass, and IP66 protection.

High-Precision Compass: RM3100 provides accurate heading. Features include a large high-gain dual-band stack patch antenna and InvenSense ICP20100 barometer. Available in DroneCAN version.

Holybro H-RTK ZED includes u-blox ZED-F9P GNSS, InvenSense ICM42688 IMU, STM32G4 MCU, advanced filtering, and amplification for precise positioning.

IP66 dust and water protection for harsh conditions.

Holybro H-RTK ZED offers EMI shielding, u-blox ZED-F9P, and STM32G4 MCU for precise GNSS performance.

• Change Log From Pervious Versions
• RTK Testing & Comparison by Andrew Tridgell (Ardupilot)
  
• User Guide: Setup & Getting started (Ardupilot)
  
• User Guide: Setup & Getting started (PX4)
• GPS Heading/Yaw (Aka Moving baseline) Guide
• Pinout
  
• Dimensions
  
• Downloads

• For other technical details and user guide, please see the documentation Page here.

Package Included:

• 1x H-RTK ZED-F9P Rover
• 1x GPS UART to USB Converter (For SKU12054,12058)
• 1x Fixed Carbon Fiber GPS mount