DroneCAN H-RTK F9P (NXP S32K1)
The DroneCAN H-RTK F9P (NXP S32K1) is an advanced GNSS positioning system by Holybro, specifically designed for precise and reliable performance. It utilizes the DroneCAN protocol for communication, providing highly accurate multiband RTK with fast convergence times. It receives signals from GPS, GLONASS, Galileo, and BeiDou satellites, updating position information at speeds of up to 8 Hz, which is ideal for high-dynamic and high-volume applications with centimeter-level accuracy.
The introduction of the DroneCAN protocol makes the system highly robust against electromagnetic interference compared to conventional UART connections. It does not occupy a serial port of the flight controller and allows for the connection of multiple CAN devices via a hub to the same CAN bus.
The hardware of the DroneCAN H-RTK F9P includes a u-blox F9P module for GNSS positioning, a BMM150 compass, and a tricolor LED display. The system is powered by an NXP S32K14 processor with 1 MB Flash and 128 KB RAM. It is fully compatible with open-source flight controllers of the Pixhawk series, including PX4 and Ardupilot. The S32K1 version utilizes the PX4-CAN node firmware and supports firmware updates via PX4 Dronecan.
It is important to note that this version currently does not support dual GPS or GPS heading. However, efforts are underway to implement these features as quickly as possible.
Intended Application
The intended application for this system is specifically designed for rovers (aircraft). It can be used either as a rover (aircraft) or as a base station. Here are the key components and specifications:
GNSS Receiver:
- U-blox ZED-F9P high-precision GNSS module
- Supports BeiDou, Galileo, GLONASS, GPS/QZSS
- Receives signals on bands B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF
Antennas:
- Ceramic patch antenna with 20 dB LNA
- Spiral antenna with 36 dB LNA
- Antenna connection type: N/A or Board: SMA female, Antenna: SMA male
Processor:
Magnetometer:
Positioning Accuracy:
- 3D FIX: 1.5 m
- RTK: 0.01 m
Communication Protocol:
Antenna Peak Gain (MAX):
- L1: 4.0 dBi, L2: 1.0 dBi or L1: 2 dBi, L2: 2 dBi
Time-to-First-Fix:
- Cold start: ≤29s, Hot start: ≤1s or Cold start: ≤25s, Hot start: ≤1s
Navigation Update Rate:
- RAW: 20 Hz max., RTK: 8 Hz max. or RAW: 20 Hz max., RTK: 8 Hz max., Moving Base RTK: 5 Hz max.
Cable Length:
Operating Voltage:
Current Consumption:
Dimensions and Weight:
- Diameter: 80 mm, Height: 20 mm, Weight: 123g
- Board (G4 version): 51.1 x 35 x 22.9 mm, Weight: 58 g
- Board (S32k1 version): 51.1 x 35 x 24.3 mm, Weight: 60.1 g
- Antenna Diameter: 27.5 mm, Antenna Height: 59 mm
Operating Temperature:
These specifications make the system ideal for use in rovers (aircraft) providing precise positioning and reliable performance in various environments and conditions.
Sample Circuit Diagram
Contents of Delivery:
- 1x DroneCAN H-RTK F9P Helical (based on NXP S32K1)
- 1x High Precision Dual-Band Helical Antenna (L1/L2)
- 1x GH 4P Cable 400mm
- 1x GH 4P Cable 150mm
- 1x GH 6P Cable 150mm
- 1x GH 7P Cable 150mm
- 1x GH 8P Cable 150mm
- 1x GH 12P Cable 150mm
- 1x GH 6P Cable 70mm
- 1x GH 7P Cable 70mm
- 1x GH 8P Cable 70mm
- 1x GH 12P Cable 70mm
