SKU: 21959421970

SparkFun GPS-RTK Dead Reckoning pHAT for Raspberry Pi (ZED-F9R)

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Description

SparkFun GPS-RTK Dead Reckoning pHAT for Raspberry Pi (ZED-F9R)Welcome to the future of GPS technology with the SparkFun ZED F9R GPS pHAT. This isn't just any GPS board; it's a high precision, sensor fusion marvel that boasts top tier configuration options and leverages u blox's cutting edge Automotive Dead Reckoning (ADR) technology. Stellar Accuracy and Performance Equipped with the ZED F9R module, this pHAT is a powerhouse. Featuring an 184 channel u blox F9 engine GNSS receiver, it can tap into GPS, GLONASS,

Welcome to the future of GPS technology with the SparkFun ZED-F9R GPS pHAT. This isn't just any GPS board; it's a high-precision, sensor fusion marvel that boasts top-tier configuration options and leverages u-blox's cutting-edge Automotive Dead Reckoning (ADR) technology.

Stellar Accuracy and Performance

Equipped with the ZED-F9R module, this pHAT is a powerhouse. Featuring an 184-channel u-blox F9 engine GNSS receiver, it can tap into GPS, GLONASS, Galileo, and BeiDou constellations, delivering jaw-dropping accuracy of approximately 0.01 meters! This precision is achievable through RTK navigation when paired with a correction source. Keep in mind, the ZED-F9R functions solely as a rover, necessitating a connection to a base station. It supports simultaneous reception from four GNSS systems, and its fusion of GNSS and 3D sensor data ensures real-time positioning at up to 30Hz.

Unwavering Performance in Challenging Environments

Urban jungles and dense areas are no match for the ZED-F9R. This module excels where others falter, maintaining continuous, accurate positioning even under poor signal conditions or complete signal loss—think short tunnels and parking garages. It's the go-to solution for autonomous robotic applications demanding pinpoint accuracy in tough settings.

Easy Integration and Versatile Compatibility

Integrating the ZED-F9R with your setup is a breeze. It uses the Raspberry Pi's serial UART for communication and comes with pre-soldered headers—no soldering needed! Stack it onto a Raspberry Pi, NVIDIA Jetson Nano, Google Coral, or any 2x20 form factor single-board computer effortlessly. Plus, a few 0.1"-spaced pins and a Qwiic connector are broken out for those needing additional connections.

Comprehensive Configuration Options

The ZED-F9R is configurable through the feature-rich, albeit dense, u-center software. Adjust baud rates, update rates, set up geofencing, spoofing detection, and more. Tinker to your heart's content and tailor the module to your specific needs.

Rapid Start with Onboard Battery

Say goodbye to long wait times. The ZED-F9R includes an onboard rechargeable battery powering the RTC, slashing the time-to-first fix from ~24 seconds (cold start) to a mere ~2 seconds (hot start). It maintains RTC and GNSS orbit data even when not connected to power, keeping you ready to go at a moment's notice.

The SparkFun ZED-F9R GPS pHAT is also equipped with an on-board rechargeable battery that provides power to the RTC on the ZED-F9R. This reduces the time-to-first fix from a cold start (~24s) to a hot start (~2s). The battery will maintain RTC and GNSS orbit data without being connected to power for plenty of time.

This product requires an antenna: Any GNSS receiver will be fine, this board uses a U.FL antenna connector but you can also use an adaptor if needed

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Features

  • 1x Qwiic Connector
  • Integrated U.FL connector for use with antenna of your choice
  • Concurrent reception of GPS, GLONASS, Galileo and BeiDou
  • 184-Channel GNSS Receiver
  • Receives both L1C/A and L2C bands
  • Horizontal Position Accuracy:
    • 0.01m with RTK
  • Max Navigation Rate: Up to 30Hz
  • Time to First Fix
    • Cold: 24s
    • Hot: 2s
  • Operational Limits
    • Max G: ≤4G
    • Max Altitude: 80km (49.7 miles)
    • Max Velocity: 500m/s (1118mph)
  • Velocity Accuracy: 0.5m/s
  • Heading Accuracy: 0.2 degrees
  • Built-In Accelerometer and Gyroscope
  • Time Pulse Accuracy: 30ns
  • Voltage: 5V or 3.3V but all logic is 3.3V
    • Current: ~85mA to ~130mA (varies with constellations and tracking state)
  • Software Configurable
    • Geofencing
    • Odometer
    • Spoofing Detection
    • External Interrupt
    • Pin Control
    • Low Power Mode
    • Many others!
  • Supports NMEA, UBX, and RTCM protocols over UART
  • Board Dimensions: 65.00mm x 56.50 mm (2.56" x 2.22")
  • Weight: 20.70g

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Shipping Notes
  • Free Standard Shipping on $100+ Orders to the USA.
  • Except Preorder products are shipped in 48 hours.
  • Delivery to the USA:
  1. Standard Shipping : 3-10 business days
  • If time is of the essence, please consider selecting expedited delivery for faster service.
Exchange/Return Notes
  • We offer a 30-day return/exchange service after receiving.
  • Final sale items are not eligible for returns or exchanges.
  • To process your return/exchange, please contact us at [email protected]
  • Please click here for more details>>> Return & Exchange Policy
SKU: 21959421970

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4.8 ★★★★★
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Becky Z.
West Palm Beach, US
★★★★★ 5
Love these shelves!
Size: 48inch, Color: Light Walnut
These are incredible for the price! Feel & look like wood. Easy-ish to install - just take your time, measure twice & use a level. Very sturdy! Great hardware & instructions. Now my daughter wants some for her apt.
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Reviewed in the United States on February 22, 2025
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Amber Danielle Farmer-Sutherland
Carnegie, US
★★★★★ 5
Perfect!
Size: 24inch, Color: Walnut, Size: 24inch, Color: Walnut
Perfect! Just what I wanted. Sturdy, came with all the pieces, and very pretty wood.
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Reviewed in the United States on November 20, 2025
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Verified Purchase
KB
Lexington, US
★★★★★ 3
They worked for replacing shelves but I wouldn’t mount them on my wall
Size: 24inch, Color: Walnut
I specifically bought these shelves because of their dimensions. I have a built-in cabinet and when we moved in 6 or so years ago, the previous owners must have taken them with them when they moved. It’s been bothering me the whole time I’ve lived here and wanted to make some but just never found the time to get around to it. I measured them out and these floating shelves were perfect for the dimensions I needed to replace the missing shelves. Would I put these on my wall(s)? Absolutely not unless I corrected the mounting issues. One thing that really stuck out to me was how bad the design was for mounting these shelves. When I took them out of the packaging, the brackets were falling out of the back everywhere. This did not inspire too much confidence that if I hung them up, they would be stable. I’ve had a ton of floating shelves similar to this mounting design, but the arms that the boards slide into on the wall for this particular shelving are thin and flat (while being easily mailable with your hand alone) in comparison to every other one I’ve had being round, or at least decently thick, sometimes with additional screws that you can insert under the board and into the mounting arms for extra stability. Also, any time I’ve ever had to mount a similar floating shelf, it took some finesse and strength to release the mounting arms from the back of the shelf because they fit very snugly. The fact that the mounting brackets were falling out of the back means that they are not snug and prone to be very loose. Another thing that stuck out to me is that the shelves are hollow. Now, for my purposes, this is fine, but again, detracts significantly from the confidence that these would be stable if mounted on the wall and would most likely droop when weight was applied. I also took issue with the fact the boards had no protective covering and were jammed into a box, with the hardware pressing against one of the boards tightly. I just flipped the shelf over to mask the defect from packaging but the side I wanted to use because it had better coloring was the damaged side. Mine did not come with any mounting directions but some common sense would be all you needed to put up something so simple. However, it did not come with a template to mark the wall for spacing, which adds to the difficulty because you have to have precise DIY measurements to slide the boards onto the mounting arms correctly. To be honest, if I were to mount these, I would bypass the shoddy mounting provided and go with some heavy, durable brackets underneath. Overall, these shelves worked for my purposes but I can see how the reviews would be very mixed in terms of mounting and quality. I did get these on a limited time deal and they were priced at approximately $8 per shelf, which was a really good deal to get 4 shelves for that price in comparison to the “normal” price resulting in approximately $11/shelf. I wouldn’t have paid full price for these and would have been highly disappointed had I with the intention to mount them, especially since I would have needed to provide better and more stable mounting hardware. They are lesser quality than others within the same price range and I think you could do much better if your intention is to mount them.
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Reviewed in the United States on January 11, 2025
A
Verified Purchase
Amazon Customer
Houston, US
★★★★★ 5
Would purchase again
Size: 48inch, Color: Light Walnut
I was not sure what to expect when I purchased these. I thought maybe they were going to be a fake particle board. But this was a solid wood. Easy to install, no directions were in the box. There was a few chips in the corner of the wood but overall I would purchase again.
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Reviewed in the United States on January 20, 2026
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Verified Purchase
SmartLady
West Palm Beach, US
★★★★★ 5
Would buy again and again
Color: Black, Size: 35.4 Inches
These are beautiful! I thought they’d be hard to install, but very straightforward and easy. They are quality and sturdy. I staggered the shelves and they hold a lot. Great value for the quality. I will be buying more for another room in the house.
WAS THIS REVIEW HELPFUL?YesReportShare
Reviewed in the United States on March 10, 2026

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