SIYI F9P RTK Module Centimeter User Manual

: June 7, 2024
: SIYI

Table of Contents

SIYI F9P RTK Module Centimeter
Product Information
Product Usage Instructions
FAQs
INTRODUCTION
GET READY TO USE
RTK CENTIMETER-LEVEL POSITION
DUAL MODULE
USE NTRIP RTK ON SIYI HANDHELD CROUND STATION
AFTER-SALE SERVICE
References
Read User Manual Online (PDF format)
Download This Manual (PDF format)

SIYI F9P RTK Module Centimeter

Product Information

The SIYI F9P RTK is a high-precision positioning system designed for achieving centimeter-level accuracy in various applications.

Specifications

Product: SIYI F9P RTK
User Manual Version: v1.0
Date: April 2024

Key Features:

Centimeter-level positioning accuracy
Mobile and Base Station connectivity
User-friendly interface
Durable construction for reliable performance

Product Usage Instructions

1. Installation

Follow the installation guidelines provided in the manual to set up the Mobile and Base Stations correctly.

2. Connection

Ensure proper connection between the Mobile Station and Base Station as illustrated in the diagrams provided.

3. Operation

Power on the devices and initiate the communication between the Mobile and Base Stations for accurate positioning.

4. Storage and Maintenance

When not in use, store the product away from children in a dry and moderate temperature environment. Avoid exposure to extreme temperatures or harsh conditions that may damage the components.

FAQs

Q: How can I update the firmware of the SIYI F9P RTK?
- A: Firmware update instructions can be found on the official SIYI website under the support section or contact the A/S center for assistance.
Q: What is the warranty coverage for the SIYI F9P RTK?
- A: The product comes with a 1-year warranty covering manufacturing defects. Refer to the warranty section in the manual for detailed terms.

SIYI

SIYI F9P RTK User Manual v1.0

F9P RTK
USER MANUAL

v1.0 April 2024
1

Thank you for purchasing SIYI product.

SIYI F9P RTK User Manual v1.0

F9P RTK module is a high-accuracy centimeter-level four-satellite multi- frequency navigation and position system developed for autopilot systems. Through real-time kinematic position technology, the 3D position accuracy is improved from meter level to centimeter level. It integrates position, altitude detection and dual-module direction finding functions. RTK technology makes up for the shortcomings of traditional GPS, barometer, and magnetic compass, enables UAVs to adapt to complex magnetic field environments, and provides accurate and reliable systematic solutions for high-accuracy applications.

To ensure you a good experience of the product, please read this manual carefully. If you encounter any issue using the product, please consult the manual or check the online pages of this product on SIYI official website (https://siyi.biz/en). You can also write an email to SIYI official A/S center ([email protected]).

2

SIYI F9P RTK User Manual v1.0
SIYI User Group – Facebook
SIYI Official Website (https://siyi.biz/en/) SIYI Official Store (https://shop.siyi.biz) SIYI YouTube Channel (https://www.youtube.com/c/SIYITech)
3

User Manual Update Log

Version 1.0

Date 2024.4

Updates Initial version.

SIYI F9P RTK User Manual v1.0

5

READ TIPS

SIYI F9P RTK User Manual v1.0

Icons

Please pay more attention to content indicated with the following marks:
DANGER Dangerous manipulation probably leads to personal injuries. WARNING Warnings on manipulation possibly leads to personal injuries. CAUTION Cautions on what manipulation may lead to economic losses.

Prohibited

Mandatory

Mark

Safety
SIYI F9P RTK is designed and manufactured for professional application scenarios. Operators need to have certain basic skills, so please use it with caution. SIYI Technology does not assume any responsibility for any unnecessary product damage caused by irregular or irresponsible operation of this product, economic losses or even personal injury to the user or others. Minors must have professionals present to supervise and guide minors when using this product. SIYI Technology’s products are designed for commercial use, and it is prohibited to use SIYI products for military purposes. It is prohibited to disassemble or modify this product without SIYI Technology’s permission.
6

Storage / Carrying / Recycling

SIYI F9P RTK User Manual v1.0

When the SIYI product you own is idle, or you want to take the SIYI product out for work, or the product has reached the end of its service life, please pay special attention to the following matters:

DANGER
When SIYI products are not in use, they should be kept away from areas easily accessible to children. Please avoid placing SIYI products in an environment that is too hot (above 60 degrees Celsius) or too cold (below minus 20 degrees Celsius).

CAUTION
Please avoid placing SIYI products in humid or sandy environments. When carrying and transporting SIYI products, please avoid operations that may damage components such as vibration or impact.

7

INTRODUCTION

SIYI F9P RTK User Manual v1.0

1.1 Product Features

Dual Module Direction Finding Adaptive in Complex Magnetic Field Environment Using two RTK mobile stations can have the dual-module direction finding function as an alternative to compass to enable UAVs to work stably in complex electromagnetic environments such as power inspections.

Switchable Between Mobile Station and Base Station RTK mobile station and base station adopt the same hardware design and can be freely switched only by loading different configuration parameters and matching the corresponding antenna.

8

1.2 Interface & Pinouts

SIYI F9P RTK User Manual v1.0

9

1.3 Technical Specifications

SIYI F9P RTK User Manual v1.0

Satellite Receiver Electronic Compass Satellite Navigation
System
Satellite Bands

Hardware
184 channel ZED-F9P (Ublox)
IST8310
GPS GLONASS
Beidou Galileo GPS-L1C/A, GPS – L2C, GLONASS – L1OF, GLONASS- L2OF GALILEO – E1B/C, GALILEO- E5b BeiDou – B1I, BeiDou – B2I QZSS – L1C/A, QZSS – L2C

Overall

Position Accuracy
Direction Finding Accuracy
(Dual Module)
Single Point Position

1 cm + 1 ppm
(0.25 / R) ° *R is the distance between two mobile station antennas in
meters.
1.5M CEP

SBAS Auxiliary Position

1.0M CEP

Surveying Time
GPS Acquisition Time
Antenna Gain Dual Module Direction
Finding Interfaces
Antenna Connector Type

RTK < 55 s
Cold Start < 23 s Hot Start < 1 s Mobile: 2 dBi Base: 5.5 dBi Supported
Yaw Accuracy: 0.35 edg (for reference) 2 x UART
1 x USB (Type-C)
MMCX

Working Voltage

4.5 ~ 5.5 V

Power Consumption

0.6 W

10

Working Temperature Product Dimension Product Weight

SIYI F9P RTK User Manual v1.0 30 ~ 75 °C 47 x 33 x 13 mm
31 g

Mark Please format the SD card to FAT32 before firmware upgrade.

11

1.4 Packing List
Base Station 1 x F9P RTK Base Module 1 x Mushroom Head Antenna

SIYI F9P RTK User Manual v1.0

1 x TNC to MMCX Antenna Cable (Connect mushroom head antenna and F9P RTK base unit)
1 x Type-C to USB Cable

Mobile Station 1 x F9P RTK Mobile Module 1 x Four-Arm Spiral Antenna 1 x Antenna Bracket
1 x UART1 to GPS MODULE Cable (Connect F9P RTK mobile station module’s UART1 port to autopilot’s GPS MODULE port) 1 x UART2 to PX4 GPS YAW UART2 Cable (Connect F9P RTK mobile station module’s UART2 port to PX4 autopilot’s GPS YAW UART2 port) 1 x UART1 to TELEM4 Cable (Connect F9P RTK mobile station module’s UART1 port to autopilot’s TELEM4 port)

12

1.5 Status Indicator Definition
Power Indicator Solid Red: Module power supply is normal.
RTK Status Indicator Blue Blinks: RTK function enabled.
PPS Status Indicator Solid Green: No position. Green Blinks: Successful position.

SIYI F9P RTK User Manual v1.0

Mark When RTK function is enabled, RTK status indicator is only available on the mobile station module. The RTK status indicator on the base station module will not light up.

13

SIYI F9P RTK User Manual v1.0

GET READY TO USE

F9P RTK

14

2.1 Installation
2.2.1 F9P RTK Base Station

SIYI F9P RTK User Manual v1.0

Please refer to the above picture to mount RTK base module and mushroom head antenna on the tripod and wire the antenna cable.
15

SIYI F9P RTK User Manual v1.0
Mark Customer should prepare the tripod. Please make sure that there is no obstruction or interference around the RTK antenna to avoid any influences on survey time and position accuracy.
2.2.2 F9P RTK Mobile Station
Please refer to the above picture to mount RTK mobile modules on the frame and make sure they do not vibrate. Arrow orientation on the RTK module should be the same with the flight controller arrow orientation (drone head orientation).
Mark
16

SIYI F9P RTK User Manual v1.0
F9P RTK comes with built-in IST8310 compass. The RTK module should stay away from magnetics.
Mobile Station Antenna Bracket Installation If there is no proper way to mount the RTK mobile station antennas at the motor position, then you can refer to below picture, and use the bracket to mount the fourarm spiral antenna on the frame and make sure it does not shake. The arrow on the RTK module should align with the flight controller orientation (drone head).
Mark Do not block the RTK antenna to ensure the position performance.
17

SIYI F9P RTK User Manual v1.0
RTK mobile station antenna bracket comes with the product package.
18

SIYI F9P RTK User Manual v1.0

RTK CENTIMETER-LEVEL POSITION

RTK base station and mobile station work in combination and communicate with each other through flight controller and datalink can achieve centimeter-level position.
19

3.1 Mobile Station Connection Diagram

SIYI F9P RTK User Manual v1.0

Please refer to the above picture and connect F9P RTK mobile station to the flight controller. The flight controller connects to the air unit of datalink.
Mark
20

SIYI F9P RTK User Manual v1.0
Under this scenario, F9P RTK and N7 autopilot work in plug-and-play, no more configuration is required.
21

3.2 Base Station Connection Diagram

SIYI F9P RTK User Manual v1.0

Please refer to the above picture and setup F9P RTK base station. The base station communicates to Windows GCS and sends real-time location of the RTK base station to flight controller.
GCS Configuration Run Mission Planner GCS, go to “SETUP Optional Hardware RTK / GPS Inject”.
22

SIYI F9P RTK User Manual v1.0
Please refer to the below pictures for configuration:
23

SIYI F9P RTK User Manual v1.0
It is suggested to check “UBlox M8P/F9P autoconfig”, set “SurveyIn Acc” as 2.5 m, and “Time” as “60”. After configuration, please click “Restart” to start.
CAUTION
If the base station has started position successfully, it is prohibited to move the base station! When base station works normally and survey is finished, Mission Planner GCS will display as below.
GPS status displays as “rtk fixed”. RTK has started position.
24

SIYI F9P RTK User Manual v1.0 25

DUAL MODULE

(REPLACE COMPASS)

SIYI F9P RTK User Manual v1.0
DIRECTION FINDING

Dual RTK mobile stations can work together to replace compass and accomplish dual module direction finding function.

26

Instruction

SIYI F9P RTK User Manual v1.0

Please refer to the above picture and connect two F9P RTK mobile stations to the flight controller. The flight controller connects to the air unit of datalink.
Flight Controller & RTK Mobile Station Configuration as Below: SERIAL3_PROTOCOL = 5 GPS MODULE port as GPS SERIAL4_PROTOCOL = 5 TELEM4 port as GPS GPS_TYPE = 17 uBlox-MovingBaseline-Base GPS_TYPE2 = 18 uBlox- MovingBaseline-Rover
27

GPS_AUTO_CONFIG = 1 *AutoConfig Seria

SIYI F9P RTK User Manual v1.0

GPS_AUTO_SWITCH = 1

EK3_SRC1_YAW = 2 (Dual module direction finding only), 3 (Return to

compass when dual module direction finding is not enabled)

Set RTK Antenna Offset GPS_POS1_Y = The distance between GPS1 antenna’s Y axis and flight controller: Positive means the antenna is on the right side of the flight controller. Negative means the antenna is on the left side of the flight controller. GPS_POS1_X = The distance between GPS1 antenna’s X axis and flight controller: Positive means the antenna is on the front side of the flight controller.
28

SIYI F9P RTK User Manual v1.0
Negative means the antenna is on the back side of the flight controller. GPS_POS1_Z = The distance between GPS1 antenna’s Z axis and flight controller: Positive means the antenna is on the upside of the flight controller. Negative means the antenna is on the downside of the flight controller. GPS_POS2_Y = The distance between GPS1 antenna’s Y axis and flight controller: Positive means the antenna is on the right side of the flight controller. Negative means the antenna is on the left side of the flight controller. GPS_POS2_X = The distance between GPS1 antenna’s X axis and flight controller: Positive means the antenna is on the front side of the flight controller. Negative means the antenna is on the back side of the flight controller. GPS_POS2_Z = The distance between GPS1 antenna’s Z axis and flight controller: Positive means the antenna is on the upside of the flight controller. Negative means the antenna is on the downside of the flight controller.
Mark The horizontal distance between GPS1 antenna and GPS2 antenna must be at least 30 cm to guarantee the direction-finding accuracy. The RTK mobile module connected to SERIAL3 port is GPS1 in default. The RTK mobile module connected to SERIAL4 port is GPS2 in default.
29

Confirm Dual Module Direction Finding

SIYI F9P RTK User Manual v1.0

Run Mission Planner GCS, check if the orientation of “GPS_YAW” aligns with the

actual orientation. If yes, dual module direction finding configuration is successful.

If not, “GPS_POS” configuration is wrong.

GCS messages say “EKF3 IMUx yaw aligned”, dual module direction-finding is successful.
30

SIYI F9P RTK User Manual v1.0 31

SIYI F9P RTK User Manual v1.0
5 RTK CENTIMETER-LEVEL POSITION & DUAL MODULE DIRECTION FINDING (REPLACE COMPASS)
Based on chapter 4, use dual RTK mobile stations and one base station together to accomplish RTK centimeter-level position and dual module direction finding function simultaneously.
32

SIYI F9P RTK User Manual v1.0

USE NTRIP RTK ON SIYI HANDHELD CROUND STATION

SIYI handheld ground station can work with RTK mobile station and network RTK base station to accomplish NTRIP RTK function.
33

SIYI F9P RTK User Manual v1.0
Run Mission Planner on SIYI handheld ground station and connect SIYI handheld ground station to Internet. Go to “SETUP RTK / GPS Inject NTRIP”.
Network RTK URL (Taking an example of Qianxun RTK): http://USER:[email protected]:8002/RTCM32_GGB
34

SIYI F9P RTK User Manual v1.0
USER: FindCM server account applied by customers. PASSWORD: Password to the FindCM server. Rtk.ntrip.qxwz.com: FindCM server addresses. 8002: Port number for forwarding WGS84 coordinate system data. RTCM32_GGB: Data source for forwarding RTCM3.2 data format.
Mark For more information, please consult your NTRIP RTK provider. After the base station data is correctly obtained, information such as the protocol number, data rate, base station coordinates, satellite number, and signal-to- noise ratio can be observed on the RTK / GPS inject page.
35

SIYI F9P RTK User Manual v1.0
Mark Even though this chapter is written based on Android Mission Planner for RTK configuration, it is not suggested to use Android Mission Planner for flight configuration. Please always use Windows Mission Planner for complicated flight configuration.
36

AFTER-SALE SERVICE

SIYI F9P RTK User Manual v1.0

If there were any questions or problems using SIYI Technology’s product, you can always try to send an email to SIYI Official A/S Center ([email protected]) or consult your sales representative or dealer for answers or solutions.

37

7.1 Repair Service

SIYI F9P RTK User Manual v1.0

If your purchased SIYI products cannot work properly, please contact SIYI Official A/S Center for consulting.

Usually there are two situations for acquiring repair service. Product Defect Product Damage
SIYI products under the two situations can be sent back to SIYI for repairing. Defect products with valid warranty can be repaired for free. Defect products without valid warranty or damaged products should be charged of repair fees after repairing. Please refer to SIYI’s Official A/S Quotation for detail.

38

7.2 Warranty

SIYI F9P RTK User Manual v1.0

SIYI Technology guarantees that, subject to the following conditions, Return & Refund Service, Replacement Service, and Warranty Repair Service can be requested. Please contact SIYI directly ([email protected] or your sales manager) or authorized SIYI dealer for more detail.

7.2.1 7-Day Return & Refund
You can request Return & Refund Service:
Within seven (7) days of receiving a product if the product has no manufacturing defect, has not been activated and is still in new or like-new condition.
Within seven (7) days of receiving a product if the product has a manufacturing defect.
Return & Refund Service will not be provided where:
It is requested beyond seven (7) calendar days of receiving a product.
A product sent to SIYI for Return & Refund Service does not include all original accessories, attachments or packaging, or any item is not in new or like-new condition, i.e., with cracks, dents, or scratches.
A legal proof of purchase, receipt or invoice is not provided or is reasonably believed to have been forged or tampered with.
39

SIYI F9P RTK User Manual v1.0
Any fault or damage of the product is caused by unauthorized use or modification of the product, including exposure to moisture, entry of foreign bodies (water, oil, sand, etc.) or improper installation or operation. Product labels, serial numbers, waterproof marks, etc. show signs of tampering or alteration. Damage is caused to the product by uncontrollable external factors, including fire, floods, high winds, or lightning strikes. A product is not delivered to SIYI within seven (7) calendar days after Return & Refund Service confirmation is sent from SIYI. Other circumstances stated in this policy.
7.2.2 15-Day Replacement You can request Replacement Service: Within fifteen (15) calendar days of receiving the product if the product has sustained a substantial damage in transit, provided always that the damage proof issued by the carrier can be provided to SIYI. Within fifteen (15) calendar days of receiving the product if the product does not match the original description of the product in one or more significant respects.
40

SIYI F9P RTK User Manual v1.0
Within fifteen (15) calendar days of receiving the product if the product suffers performance failure.
Replacement Service will not be provided where:
Service is requested more than fifteen (15) calendars days after receiving a product.
Legal proof-of-purchase, receipts, or invoices are not provided, or are reasonably believed to have been forged or tampered with.
A product sent to SIYI for replacement does not include all original accessories, attachments, and packaging, or contains items damaged by user error.
A product is found to have no defects after all appropriate tests are conducted by SIYI.
Any fault or damage of the product is caused by unauthorized use or modification of the product, including exposure to moisture, entry of foreign bodies (water, oil, sand, etc.) or improper installation or operation.
Damage is caused by uncontrollable external factors, including fires, floods, high winds, or lightning strikes.
Received product has not been sent back to SIYI seven (7) calendar days after replacement confirmation from SIYI.
Proof of damage during transit issued by the carrier cannot be provided.
Other circumstances stated in this policy.
41

SIYI F9P RTK User Manual v1.0
7.2.3 1-Year Warranty Repair You can request warranty repair service: If a product does not function as warranted during the warranty period, you may obtain after-sales service by contacting SIYI’s service center. You will need to provide a valid proof-of-purchase, receipt, or order number for the warranty service. Charges may apply for services not covered by this Limited Warranty. Please contact SIYI for information specific to your location. Please note that the warranty service is only available in the respective SIYI service regions where you purchased your SIYI product. Warranty Repair service will not be provided where: Crashes or fire damage caused by non-manufacturing factors, including but not limited to pilot errors. Damage caused by unauthorized modification, disassembly, or shell opening not in accordance with official instructions or manuals. Damage caused by improper installation, in correct use, or operation not in accordance with official instructions or manuals. Damage caused by non-authorized service provider.
42

SIYI F9P RTK User Manual v1.0
Damage caused by unauthorized modification of circuits and mismatch or misuse of the battery and charger. Damage caused by operation in bad weather (i.e., strong winds, rain, sand/dust storms, etc.) Damage caused by operating the product in an environment with electromagnetic interference (i.e., in mining areas or close to radio transmission towers, high-voltage wires, substations, etc.) Damage caused by operating the product in an environment suffering from interference from other wireless devices (i.e., transmitter, video-downlink, Wi-Fi signals, etc.) Damage caused by reliability or compatibility issues when using unauthorized thirdparty parts. Damage caused by operating the unit with a low-charged or defective battery. Products or parts with an altered identification label or from which the identification label has been removed.
43

SIYI F9P RTK User Manual v1.0
SIYI Technology Business Inquiry: [email protected]
Phone: +86 400 838 2918 A/S Center: [email protected]
44