# Specification

| GNSS Module                     | UART NEO-F9P                                                                                                                                                                                                                 | DroneCAN NEO-F9P                                                                                                                                                                                                         |
| ------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Intended Application            | Rover (aircraft) or Base station (module version only)                                                                                                                                                                       | Rover (aircraft) or Base station (module version only)                                                                                                                                                                   |
| GNSS Receiver                   | U-blox NEO-F9P high precision GNSS module                                                                                                                                                                                    | U-blox NEO-F9P high precision GNSS module                                                                                                                                                                                |
| Processor                       | NA                                                                                                                                                                                                                           | <mark style="color:yellow;">STM32 G473</mark>                                                                                                                                                                            |
| Magnetometer                    | RM3100 Industrial Grade Compass                                                                                                                                                                                              | RM3100 Industrial Grade Compass                                                                                                                                                                                          |
| Barometer                       | NA                                                                                                                                                                                                                           | <mark style="color:yellow;">ICP20100</mark>                                                                                                                                                                              |
| Inertial Measurement Unit       | NA                                                                                                                                                                                                                           | <mark style="color:yellow;">ICM-42688P</mark>                                                                                                                                                                            |
| GNSS Systems                    | GPS / QZSS, BeiDou, Galileo, GLONASS                                                                                                                                                                                         | GPS / QZSS, BeiDou, Galileo, GLONASS                                                                                                                                                                                     |
| GNSS Band                       | <p>GPS: L1C/A and L5 GLONASS: L1OF </p><p>Galileo: E1-B/C and E5a </p><p>BeiDou: B1I and B2a </p><p>QZSS: L1C/A, L1S and L5 SBAS: L1C/A</p><p>NavIC: SPS-L5</p>                                                              | <p>GPS: L1C/A and L5 GLONASS: L1OF </p><p>Galileo: E1-B/C and E5a </p><p>BeiDou: B1I and B2a </p><p>QZSS: L1C/A, L1S and L5 SBAS: L1C/A</p><p>NavIC: SPS-L5</p>                                                          |
| Number of Concurrent GNSS       | 4                                                                                                                                                                                                                            | 4                                                                                                                                                                                                                        |
| Dynamic Heading accuracy        | 0.3 degrees                                                                                                                                                                                                                  | 0.3 degrees                                                                                                                                                                                                              |
| Horizontal Positioning accuracy | <p>PVT: 1.5 m CEP</p><p>SBAS: 1.0m CEP</p><p>RTK: 0.01 m +1ppm CEP</p>                                                                                                                                                       | <p>PVT: 1.5 m CEP</p><p>SBAS: 1.0m CEP</p><p>RTK: 0.01 m +1ppm CEP</p>                                                                                                                                                   |
| Vertical Positioning accuracy   | <p>PVT: 2.0 m R50</p><p>SBAS: 1.5m R50</p><p>RTK: 0.01 m +1ppm R50</p>                                                                                                                                                       | <p>PVT: 2.0 m R50</p><p>SBAS: 1.5m R50</p><p>RTK: 0.01 m +1ppm R50</p>                                                                                                                                                   |
| Velocity accuracy               | 0.05 m/s                                                                                                                                                                                                                     | 0.05 m/s                                                                                                                                                                                                                 |
| Operational limits              | <p>Dynamics ≤ 4 g</p><p>Altitude 80,000 m</p><p>Velocity 500 m/s</p>                                                                                                                                                         | <p>Dynamics ≤ 4 g</p><p>Altitude 80,000 m</p><p>Velocity 500 m/s</p>                                                                                                                                                     |
| Accuracy of time pulse signal   | 30ns RMS                                                                                                                                                                                                                     | 30ns RMS                                                                                                                                                                                                                 |
| Frequency of time pulse signal  | 0.25 Hz to 10 MHz                                                                                                                                                                                                            | 0.25 Hz to 10 MHz                                                                                                                                                                                                        |
| Sensitivity                     | <p>Tracking and nav. -167 dBm</p><p>Reacquisition -160 dBm</p><p>Cold start -148 dBm</p><p>Hot start -157 dBm</p>                                                                                                            | <p>Tracking and nav. -167 dBm</p><p>Reacquisition -160 dBm</p><p>Cold start -148 dBm</p><p>Hot start -157 dBm</p>                                                                                                        |
| Acquisition                     | <p>Hot Start: 3s</p><p>Aided starts: 4s</p><p>Cold starts: 27s</p>                                                                                                                                                           | <p>Hot Start: 3s</p><p>Aided starts: 4s</p><p>Cold starts: 27s</p>                                                                                                                                                       |
| Navigation Update Rate          | <p>GPS+GLO+GAL+BDS:</p><p>RTK: 7Hz Max</p><p>PVT: 7Hz Max</p><p>RAW: 10Hz</p><p>GPS Only:</p><p>RTK: 25Hz Max</p><p>PVT: 25Hz Max</p><p>RAW: 25Hz</p>                                                                        | <p>GPS+GLO+GAL+BDS:</p><p>RTK: 7Hz Max</p><p>PVT: 7Hz Max</p><p>RAW: 10Hz</p><p>GPS Only:</p><p>RTK: 25Hz Max</p><p>PVT: 25Hz Max</p><p>RAW: 25Hz</p>                                                                    |
| Anti-spoofing                   | Advanced anti-spoofing algorithms                                                                                                                                                                                            | Advanced anti-spoofing algorithms                                                                                                                                                                                        |
| Antennas                        | <p>Helical Antenna (CH8604A)</p><p>Vertical Array Ceramic Patch Antenna（Optional)</p><p>High-Gain Ceramic Patch Antenna（Optional)</p><p>Rover Compact Ceramic Patch Antenna (Rover version only)</p>                         | <p>Helical Antenna (CH8604A)</p><p>Vertical Array Ceramic Patch Antenna（Optional)</p><p>High-Gain Ceramic Patch Antenna（Optional)</p><p>Rover Compact Ceramic Patch Antenna (Rover version only)</p>                     |
| Antennas Peak Gain              | <p>Helical：</p><p>    L1: 2dBi L5: 2dBi</p><p>Ceramic Patch：</p><p>    L1: 3.5dBi L5: 3.5dBi</p><p>High-Gain Ceramic Patch:</p><p>    L1: 5.5dBi L5: 4dBi</p><p>Rover Ceramic Patch:</p><p>    L1: 1.8dBi L5: 0.5dBi    </p> | <p>Helical：</p><p>    L1: 2dBi L5: 2dBi</p><p>Ceramic Patch：</p><p>    L1: 3.5dBi L5: 3.5dBi</p><p>High-Gain Ceramic Patch:</p><p>    L1: 5.5dBi L5: 4dBi</p><p>Rover Ceramic Patch:</p><p>    L1: 1.8dBi L5: 0.5dBi</p> |
| Antennas LNA Gain               | <p>Helical：</p><p>    33 ± 2dB</p><p>Ceramic Patch：</p><p>    33 ± 2dB</p><p>High-Gain Ceramic Patch:</p><p>    40 ± 2dB </p><p>Rover Ceramic Patch: </p><p>    28 ± 2dB</p>                                                 | <p>Helical：</p><p>    33 ± 2dB</p><p>Ceramic Patch：</p><p>    33 ± 2dB</p><p>High-Gain Ceramic Patch:</p><p>    40 ± 2dB </p><p>Rover Ceramic Patch: </p><p>    28 ± 2dB</p>                                             |
| Antenna Connection Type         | Board: SMA female Antenna: SMA male                                                                                                                                                                                          | Board: SMA female Antenna: SMA male                                                                                                                                                                                      |
| Protocols                       | NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1                                                                                                                                                                                        | NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1                                                                                                                                                                                    |
| Communication Protocol          | <mark style="color:yellow;">UART(I2C)</mark>                                                                                                                                                                                 | <mark style="color:yellow;">DroneCAN 1Mbit/s</mark>                                                                                                                                                                      |
| Working Voltage                 | 4.75V\~5.25V                                                                                                                                                                                                                 | 4.75V\~5.25V                                                                                                                                                                                                             |
| Current Consumption             | 250mA                                                                                                                                                                                                                        | 250mA                                                                                                                                                                                                                    |
| Dimensions                      | <p>Module: 43.1X44.13X22mm</p><p>Rover: Diameter: 61.99mm, Height: 21mm</p>                                                                                                                                                  | <p>Module: 43.1X44.13X22mm</p><p>Rover: Diameter: 61.99mm, Height: 21mm</p>                                                                                                                                              |
| Weight                          | 39g (Rover), 40g (Module), 40.5g (DroneCAN Module)                                                                                                                                                                           | 39g (Rover), 40g (Module), 40.5g (DroneCAN Module)                                                                                                                                                                       |
| Operating Temperature           | -25℃ to 85℃                                                                                                                                                                                                                  | -25℃ to 85℃                                                                                                                                                                                                              |

## Antenna Specifications

|                                                                  | <img src="https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2F8WWSVevg0CsxHBjS4wKO%2FSKU12062.jpg?alt=media&#x26;token=380c7f6e-23ef-4e93-b894-b415413ca55a" alt="" data-size="original"> | <img src="https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FbrMp0fzjowd0ORGLyQFV%2FSKU12068.jpg?alt=media&#x26;token=71590490-7f50-4ecb-a168-458fd44634c8" alt="" data-size="original"> | <img src="https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FDVCAaa2cLtqrAYMB71U9%2FSKU12065.jpg?alt=media&#x26;token=e833ff53-5398-44b7-9ef4-a49bbe01dc44" alt="" data-size="original"> |
| ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Antenna Model                                                    | <p>Helical Antenna</p><p>(CH8604A)</p>                                                                                                                                                                                                                        | Vertical Array Patch Antenna                                                                                                                                                                                                                                  | Base Station Antenna (CSX627A)                                                                                                                                                                                                                                |
| <p>Antenna Cable Length</p><p>(Contact us for customization)</p> | 40cm (default)                                                                                                                                                                                                                                                | 40 or 80cm                                                                                                                                                                                                                                                    | 500cm                                                                                                                                                                                                                                                         |
| Dimensions                                                       | <p>Diameter: 27.5mm</p><p>Height: 59mm</p>                                                                                                                                                                                                                    | <p>Diameter: 75mm</p><p>Height: 26mm</p><p>(excluding connector cable)</p>                                                                                                                                                                                    | <p>Diameter: 152mm</p><p>Height: 62.2mm</p>                                                                                                                                                                                                                   |
| Weight                                                           | 18g                                                                                                                                                                                                                                                           | 168g                                                                                                                                                                                                                                                          | 343g                                                                                                                                                                                                                                                          |
| Antennas Peak Gain                                               | L1: 2dBi L5: 2dBi                                                                                                                                                                                                                                             | 4dBi                                                                                                                                                                                                                                                          | 5.5dBi                                                                                                                                                                                                                                                        |
| Antennas LNA Gain                                                | 33 ± 2dB                                                                                                                                                                                                                                                      | 33±2dB                                                                                                                                                                                                                                                        | 40±2dB                                                                                                                                                                                                                                                        |
| Polarization                                                     | RHCP                                                                                                                                                                                                                                                          | RHCP                                                                                                                                                                                                                                                          | RHCP                                                                                                                                                                                                                                                          |
