SparkFun GPS-RTK Dead Reckoning Kit (U.FL)

A complete GPS-RTK kit built around the u-blox ZED-F9R module with Automotive Dead Reckoning (ADR) technology. This 184-channel GNSS receiver fuses satellite signals from GPS, GLONASS, Galileo, and BeiDou with a built-in 3D IMU (accelerometer and gyroscope), wheel ticks, and a vehicle dynamics model to deliver continuous, high-accuracy positioning — even in tunnels, parking garages, and dense urban environments.

With RTK correction data, the ZED-F9R achieves ~0.01 m horizontal position accuracy at navigation rates up to 30 Hz. The breakout board features Qwiic (I²C) connectors for solderless integration, plus standard 0.1″ headers for breadboard use. An onboard rechargeable battery backs the RTC, reducing time-to-first-fix from ~24 s (cold) to ~2 s (hot).

Key Features

• ZED-F9R Module – 184-channel GNSS receiver with dead reckoning and sensor fusion
• RTK Accuracy – 0.01 m horizontal position accuracy with correction data
• Quad-Constellation – Concurrent GPS, GLONASS, Galileo, and BeiDou reception (L1 + L2 bands)
• Dead Reckoning – Continuous positioning through signal loss using built-in 3D IMU
• Up to 30 Hz Navigation Rate – High-speed position updates for dynamic applications
• Qwiic / I²C Interface – Solderless connection; also supports UART
• U.FL Antenna Connector – Use with the included multiband antenna or your own
• Onboard RTC Battery – Hot start in ~2 seconds
• Software Configurable – Geofencing, spoofing detection, odometer, low power mode, and more

Breakout Specifications

• GNSS Module: u-blox ZED-F9R
• Channels: 184
• Bands: L1C/A and L2C
• Horizontal Accuracy: 0.01 m (RTK)
• Velocity Accuracy: 0.05 m/s
• Heading Accuracy: 0.2°
• Time Pulse Accuracy: 30 ns
• Max Navigation Rate: 30 Hz
• Time to First Fix: ~24 s (cold), ~2 s (hot)
• Operational Limits: ≤4 G, 80 km altitude, 500 m/s velocity
• Voltage: 5 V or 3.3 V (3.3 V logic)
• Current Draw: ~85–130 mA
• Protocols: NMEA, UBX, RTCM (over UART or I²C)
• Dimensions: 43.18 × 50.8 mm
• Weight: 11.05 g

Antenna Specifications

• L1 Band: 1559–1606 MHz, 3.5 dBic peak gain
• L2/L5 Band: 1197–1249 MHz, 0–2.0 dBic peak gain
• Impedance: 50 Ω, RHCP polarisation
• VSWR: Max 2
• Cable: 5 m coaxial with SMA connector
• Mounting: Magnetic base or screw mount (2× M4)
• Dimensions: 60 × 82 × 22.5 mm
• Weight: 175 g (including cable)

Ideal For

• Autonomous robotics and vehicle navigation
• Precision positioning in urban environments
• Agricultural and surveying applications
• Fleet tracking with dead reckoning through tunnels and garages

Package Contents

• 1× SparkFun GPS-RTK Dead Reckoning Breakout – ZED-F9R (U.FL, Qwiic)
• 1× GNSS Multi-Band Magnetic Mount Antenna – 5 m (SMA)
• 1× Reversible USB-A to USB-C Cable – 0.8 m
• 1× SMA to U.FL Cable – 150 mm

Resources

Breakout Board:

• Hookup Guide
• ZED-F9R Datasheet (PDF)
• Product Summary (PDF)
• Integration Manual (PDF)
• u-blox Interface Description (PDF)
• Schematic (PDF)
• Board Dimensions (PNG)
• Eagle Files (ZIP)
• Arduino Library (GitHub)
• Hardware Repo (GitHub)

Antenna:

• Antenna Product Summary (PDF)

USB Cable:

• Product Drawing (PDF)