C-RTK 9Ps RTK Receiver

The C-RTK 9Ps is a four-star Real Time GNSS system, using two C-RTK 9Ps modules, one for aircraft and the other for base stations. It also supports the dual GPS for yaw, replacing the uav magnetic compass, so that the UAV can adapt to the complex magnetic field environment. Compared with C-RTK 9P, C-RTK 9Ps achieves similar performance at lower price; It is a very cost-effective centimeter-level positioning module. Compatible with PX4/ArduPilot open-source flight controller. It is an ideal choice for uav aerial performance, agricultural application, high-precision takeoff and landing, ship takeoff and landing and other applications requiring real-time high-precision navigation.



CUAV store

Key Features

Hardware Parameters
Receiver type 184 channel ZED-F9P(ublox)
Compass IST8310
Number of concurrent GNSS 4
GNSS Bands GPS-L1C/A(1575.42MHz)
GPS - L2C(1227.6MHz)
GALILEO - E1B/C(1575.42MHz)
GALILEO- E5b(1207.14MHz);
BeiDou - B1I(1561.098MHz)
BeiDou - B2I(1204.14MHz);
QZSS - L1C/A(1575.42MHz)
QZSS - L2C(1227.6MHz)
Nav. update rate RTK 20Hz
RAW 25Hz;
PVT 25Hz
(The maximum limit is related to the concurrency setting; please refer to the subsequent navigation refresh rate chapter for details)
Position accuracy RTK:0.01m+1ppm CEP
GPS:1.5m CEP;
RTK Surveyin-time RTK<60s
Acquisition Cold starts<24s
Hot starts<1s
Sensitivity Cold starts –148 dBm
Hot starts –157 dBm
Reacquisition –160 dBm
Anti-jamming Active CW detection and removal Onboard band pass flter
Anti-spoofng Advanced anti-spoofng algorithms
Antenna gain Rover:2dBi
PPK not support
GPS heading Support (requires two C-RTK 9Ps); heading accuracy: 0.4edg (reference value)
Base/Rover role swap Support
Protocols NMEA、UBX binary、RTCM 3.x
Operating voltage 4.5V to 6V
Operating temperature –40°C to +85°C

Size and Weight





  • PPS
    • Always bright: NO fixs
    • Flashing:GNSS positioning succeeded
  • RTK
    • lights off:No access to RTK
    • Always bright:RTK fixs

Rover hardware connection

As the first GPS: rtk

  • Use a special cable to connect the C-RTK 9Ps (UART1) interface to the flight control GPS interface.
    As a second GPS: rtk
  • Use a dedicated line to connect the C-RTK 9Ps (UART1) interface to the flight control UART4 interface.
  • If the flight controller is running ArduPilot firmware, please set GPS_TYPE2 to 1.

GPS+safety switch (USL module): rtk

[!NOTE] USL modules need to be purchased separately; you can also use ordinary safety switches to rewire for DIY.

  • Connect the antenna to the Rover
  • Connect C-RTK 9ps (Rover) to the flight controller (Hardware Connection)
  • Connect the data transmission to the Telem1 interface of the flight controller
  • Install C-RTK 9ps on the vehicle in the correct direction (generally, the installation direction of C-RTK 9ps should be consistent with the direction of the aircraft)

crtk use

[!Tip] Due to the configuration of the IST8310, the ArduPilot will automatically be set to yaw 270 during calibration. This is normal, please do not modify it.

Rtk base hardware connection

crtk use

  • Use a tripod to elevate the antenna of the Rtk base, and use a feeder to connect the antenna to the base station.

You need to use Missionplanner/Qgroundcontrol for base station setup.

Dual C-RTK 9Ps Haeding

PX4 wiki


results matching ""

    No results matching ""