# Pioneer F20P

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Full .pdf datasheet:
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{% file src="<https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2FXScIq9XGS00V5ziogLXs%2FSiderionDoc_PioneerF20P.pdf?alt=media&token=5cc62ffe-7dc5-4a14-a309-f20de276da04>" %}
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***

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<figure><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2F28eRBnhYbyNNfgwMlyzV%2FPioneer_0.png?alt=media&#x26;token=5004848c-b6d0-4ba6-9027-973138a76eab" alt=""><figcaption></figcaption></figure>

***Features***

* 5V - 100mA power supply
* LEDs status: Power/RTK
* Timepulse & External Interrupt
* USB/I²C/SPI/UART digital interfaces
* Gold plated SMA connector
* Onboard Bosch BMP581 barometer
* Onboard PNI RM3100 compass

***Applications***

* Drones
* RTK Base
* Ground vehicles
* Precise navigation
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In production
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***Description***

The Siderion Pioneer F20P is an affordable, compact, and high-precision triple-band L1/L2/L5 GNSS RTK (Real-Time Kinematic) device.\
\
Powered by the latest generation of u-blox ZED-F20P modules, the Pioneer F20P supports concurrent reception of GPS, Galileo, BeiDou, QZSS, and NavIC signals. Consequently, the device delivers reliable performance and fast convergence, achieving centimeter-level accuracy in seconds.\
\
The onboard BMP581 absolute barometric pressure sensor and the professional-grade RM3100 compass enhance the overall performance of the Pioneer F20P.\
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Its JST-GH connectors make it ideal for integration with Pixhawk or other autopilot systems.\
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The Pioneer F20P operates across a temperature range from -40°C to +70°C.
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<table><thead><tr><th>Order ref code</th><th width="200.3333740234375">Temperature range [°C]</th><th>Product size [mm]</th><th>Weight [g]</th></tr></thead><tbody><tr><td>Beacon F20P</td><td>-40 to +70</td><td>63.0 x 33.0 x 13.4</td><td>16</td></tr></tbody></table>
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## Product description, LED & pinout

### Overview

<figure><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2FtSgy5ehCInvSAEC4i5Wi%2FPioneer_1.png?alt=media&#x26;token=154345dc-4b03-42c6-ac73-ee21aa289a26" alt="" width="375"><figcaption></figcaption></figure>

### LED sequence

<table><thead><tr><th width="150.33331298828125">LED name</th><th width="100.33331298828125">Color</th><th width="150">Light sequence</th><th>Comment</th></tr></thead><tbody><tr><td>Power</td><td>Blue</td><td><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2F9Ii0E03BqdODVpCIVC79%2Funknown.png?alt=media&#x26;token=4c3e5cfe-8891-4a0c-b4e6-98867cfc6604" alt="" data-size="line"></td><td>Solid blue LED when powered ON</td></tr><tr><td>RTK Status</td><td>Green</td><td><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2FQ6KWuxpeHTtT0GGQ1KL0%2Funknown.png?alt=media&#x26;token=0468a87e-6239-485b-ac5f-5f6a03844bb4" alt="" data-size="line"></td><td>3D fix mode / No RTK fix</td></tr><tr><td>RTK Status</td><td>Green</td><td><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2FOmNKNL4s6M79Vjk3XkZx%2Funknown.png?alt=media&#x26;token=373ba200-235e-4c07-b5bb-11a9f39afc07" alt="" data-size="line"></td><td>RTK fix but no FIXED RTK fix</td></tr><tr><td>RTK Status</td><td>Green</td><td><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2F1T1vIHAYsjWx0IdQdwiv%2Funknown.png?alt=media&#x26;token=c9f9a629-0025-42aa-8f5a-9e58cd91dea8" alt="" data-size="line"></td><td>FIXED RTK fix</td></tr></tbody></table>

### Pin description

<figure><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2F2DJg0DwHxxHiorfYxF22%2FPioneer_2.png?alt=media&#x26;token=3397e66c-ea6d-4b4c-b1f2-87d85eb3b2ec" alt=""><figcaption></figcaption></figure>

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<table><thead><tr><th width="70">Pin</th><th>Name</th><th width="99.6666259765625">Type</th><th>Function</th></tr></thead><tbody><tr><td><strong>A1</strong></td><td>5V IN</td><td>P</td><td>5V input</td></tr><tr><td><strong>A2</strong></td><td>UART2 TXD</td><td>O</td><td>UART2 transmit</td></tr><tr><td><strong>A3</strong></td><td>UART2 RXD</td><td>I</td><td>UART2 receive</td></tr><tr><td><strong>A4</strong></td><td>EXTINT</td><td>I</td><td>External interrupt</td></tr><tr><td><strong>A5</strong></td><td>TIMEPULSE</td><td>O</td><td>Timepulse output</td></tr><tr><td><strong>A6</strong></td><td>GND</td><td>P</td><td>Ground reference</td></tr></tbody></table>

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<p align="right">P : Power / I : Input / O : Output</p>
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<table><thead><tr><th width="70">Pin</th><th>Name</th><th width="100.3333740234375">Type</th><th>Function</th></tr></thead><tbody><tr><td><strong>B1</strong></td><td>5V IN</td><td>P</td><td>5V input</td></tr><tr><td><strong>B2</strong></td><td>UART1 RXD / SPI MOSI</td><td>I</td><td>I2C Serial Clock or SPI slave in</td></tr><tr><td><strong>B3</strong></td><td>UART1 TXD / SPI MISO</td><td>O</td><td>UART transmit or SPI slave out</td></tr><tr><td><strong>B4</strong></td><td>I2C SCL / SPI CLK</td><td>I</td><td>I2C clock or SPI clock</td></tr><tr><td><strong>B5</strong></td><td>I2C SDA / SPI CS</td><td>I/O</td><td>I2C data or SPI chip select</td></tr><tr><td><strong>B6</strong></td><td>GND</td><td>P</td><td>Ground reference</td></tr></tbody></table>

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<p align="right">P : Power / I : Input / O : Output</p>
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The **SPI** port is available only when the **D\_SEL** pin is pulled **LOW**.
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The **USB** port can be used only when the **GPS** port is not used, and vice versa.
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<figure><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2F4yoxdYe6xrCAcMeAmxdx%2FPioneer_3.png?alt=media&#x26;token=8597db08-892b-4637-a121-22b9c5fcf98b" alt=""><figcaption></figcaption></figure>

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{% tab title="P2 Port" %}

<table><thead><tr><th width="70.0001220703125">IO</th><th width="110">Name</th><th width="70.00006103515625">IO</th><th width="110">Name</th><th width="69.666748046875">IO</th><th width="110">Name</th><th width="70.0001220703125">IO</th><th>Name</th></tr></thead><tbody><tr><td><mark style="color:red;"><strong>1</strong></mark></td><td><mark style="color:red;"><strong>VUSB</strong></mark></td><td><mark style="color:blue;"><strong>7</strong></mark></td><td><mark style="color:blue;"><strong>I2C_SDA</strong></mark></td><td><mark style="color:green;"><strong>13</strong></mark></td><td><mark style="color:green;"><strong>UART1_RX</strong></mark></td><td><mark style="color:red;"><strong>19</strong></mark></td><td><mark style="color:red;"><strong>VUSB</strong></mark></td></tr><tr><td><mark style="color:red;"><strong>2</strong></mark></td><td><mark style="color:red;"><strong>VUSB</strong></mark></td><td>8</td><td>GND</td><td>14</td><td>GND</td><td><mark style="color:red;"><strong>20</strong></mark></td><td><mark style="color:red;"><strong>VUSB</strong></mark></td></tr><tr><td>3</td><td>GND</td><td><mark style="color:blue;"><strong>9</strong></mark></td><td><mark style="color:blue;"><strong>I2C_SCL</strong></mark></td><td>15</td><td>GND</td><td>21</td><td>GND</td></tr><tr><td>4</td><td>GND</td><td>10</td><td>GND</td><td>16</td><td>GND</td><td>22</td><td>GND</td></tr><tr><td>5</td><td>GND</td><td><mark style="color:green;"><strong>11</strong></mark></td><td><mark style="color:green;"><strong>UART1_TX</strong></mark></td><td>17</td><td>GND</td><td>23</td><td>GND</td></tr><tr><td>6</td><td>GND</td><td>12</td><td>GND</td><td>18</td><td>GND</td><td>24</td><td>GND</td></tr></tbody></table>

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<p align="right">P : Power / I : Input / O : Output</p>
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{% tab title="P1 Port" %}

<table><thead><tr><th width="70.0001220703125">IO</th><th width="110">Name</th><th width="70.00006103515625">IO</th><th width="110">Name</th><th width="69.666748046875">IO</th><th width="110">Name</th><th width="70.0001220703125">IO</th><th>Name</th></tr></thead><tbody><tr><td>1</td><td>NC</td><td><mark style="color:purple;"><strong>7</strong></mark></td><td><mark style="color:purple;"><strong>TIMEPULSE</strong></mark></td><td>13</td><td>GND</td><td>19</td><td>NC</td></tr><tr><td>2</td><td>NC</td><td><mark style="color:purple;"><strong>8</strong></mark></td><td><mark style="color:purple;"><strong>GEO_STAT</strong></mark></td><td><mark style="color:orange;"><strong>14</strong></mark></td><td><mark style="color:orange;"><strong>RESET</strong></mark></td><td>20</td><td>NC</td></tr><tr><td>3</td><td>GND</td><td><mark style="color:orange;"><strong>9</strong></mark></td><td><mark style="color:orange;"><strong>EXT_INT</strong></mark></td><td>15</td><td>GND</td><td>21</td><td>GND</td></tr><tr><td>4</td><td>GND</td><td><mark style="color:green;"><strong>10</strong></mark></td><td><mark style="color:green;"><strong>TX_READY</strong></mark></td><td><mark style="color:orange;"><strong>16</strong></mark></td><td><mark style="color:orange;"><strong>SAFEBOOT</strong></mark></td><td>22</td><td>GND</td></tr><tr><td>5</td><td>GND</td><td>11</td><td>GND</td><td>17</td><td>GND</td><td>23</td><td>GND</td></tr><tr><td><mark style="color:purple;"><strong>6</strong></mark></td><td><mark style="color:purple;"><strong>RTK_STAT</strong></mark></td><td><mark style="color:green;"><strong>12</strong></mark></td><td><mark style="color:green;"><strong>D_SEL</strong></mark></td><td>18</td><td>GND</td><td>24</td><td>GND</td></tr></tbody></table>

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<p align="right">P : Power / I : Input / O : Output</p>
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Connector reference: **DF40C-20DP-0.4V(51)** - HIROSE ELECTRIC
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## U-blox ZED-F20P Specifications

<details>

<summary>Electrical specifications</summary>

<table><thead><tr><th width="90">Symbol</th><th width="190">Parameter</th><th width="130">Test conditions</th><th width="80">Min.</th><th width="80">Typ.</th><th width="80">Max.</th><th width="80">Units</th></tr></thead><tbody><tr><td>Vusb</td><td>USB supply voltage</td><td><br></td><td>4.5</td><td>5.0</td><td>5.5</td><td>V</td></tr><tr><td>Vdd</td><td>Internal supply voltage</td><td><br></td><td><br></td><td>3.3</td><td><br></td><td>V</td></tr><tr><td>Vdd_IO</td><td>Supply voltage for I/O</td><td><br></td><td><br></td><td>3.3</td><td><br></td><td>V</td></tr><tr><td>Idd</td><td>Current consumption</td><td>w/o active antenna</td><td><br></td><td>50</td><td><br></td><td>mA</td></tr><tr><td></td><td><br></td><td>w/ active antenna</td><td><br></td><td>130</td><td></td><td>mA</td></tr><tr><td>Vil</td><td>IO pin low level input voltage</td><td><br></td><td>0</td><td><br></td><td>0.8</td><td>V</td></tr><tr><td>Vih</td><td>IO pin high level input voltage</td><td><br></td><td>2</td><td><br></td><td>Vdd+0.3</td><td>V</td></tr><tr><td>Vol</td><td>IO pin low level output voltage</td><td>Iol = 1mA</td><td><br></td><td><br></td><td>0.4</td><td>V</td></tr><tr><td>Voh</td><td>IO pin high level output voltage</td><td>Ioh = 1mA</td><td>Vdd-0.4</td><td><br></td><td><br></td><td>V</td></tr><tr><td>Top</td><td>Operating temperature</td><td><br></td><td>-40</td><td><br></td><td>+70</td><td>°C</td></tr></tbody></table>

</details>

<details>

<summary>General performance</summary>

| Parameter              | Specifications                                | Value                                    |
| ---------------------- | --------------------------------------------- | ---------------------------------------- |
| Receiver type          | Multi-band GNSS high precision                | <p><br></p>                              |
| Accuracy of Timepulse  | <p>RMS</p><p>99%</p>                          | <p>30 ns</p><p>60 ns</p>                 |
| Frequency of Timepulse | <p><br></p>                                   | 0.25 Hz to 10 MHz                        |
| Operational limits     | <p>Dynamics</p><p>Altitude</p><p>Velocity</p> | <p>< 4g</p><p>80,000 m</p><p>500 m/s</p> |
| Velocity accuracy      | <p><br></p>                                   | 0.03 m/s                                 |

</details>

<details>

<summary>GNSS performance</summary>

<table data-full-width="true"><thead><tr><th>GNSS</th><th>Parameter</th><th>GPS+GAL+BDS</th></tr></thead><tbody><tr><td>Acquisition</td><td><p>Cold start</p><p>Hot start</p><p>Aided start</p></td><td><p>25 s</p><p>2 s</p><p>2 s</p></td></tr><tr><td>Update rate</td><td><p>RTK</p><p>PVT</p><p>RAW</p></td><td><p>25 Hz</p><p>25 Hz</p><p>25 Hz</p></td></tr><tr><td>Convergence time</td><td>RTK</td><td>&#x3C; 7 s</td></tr><tr><td>Horizontal pos. accuracy</td><td><p>PVT</p><p>RTK</p></td><td><p>1.2 m CEP</p><p>0.006 m + 1ppm CEP</p><p><br></p></td></tr><tr><td>Vertical pos. accuracy</td><td>RTK</td><td><p>0.01 m + </p><p>1ppm CEP</p></td></tr><tr><td>Sensitivity</td><td><p>Tracking &#x26; Nav.</p><p>Reacquisition</p><p>Cold start</p><p>Hot start</p></td><td><p>-167 dBm</p><p>-160 dBm</p><p>-148 dBm</p><p>-158 dBm</p></td></tr></tbody></table>

</details>

<details>

<summary>GNSS modes</summary>

| System  | Signal                                 | Frequency                                                 |
| ------- | -------------------------------------- | --------------------------------------------------------- |
| GPS     | <p>L1C/A</p><p>L2C</p><p>L5</p>        | <p>1575.420 MHz</p><p>1227.600 MHz</p><p>1176.450 MHz</p> |
| Galileo | <p>E1-B/C</p><p>E5a</p>                | <p>1575.420 MHz</p><p>1176.450 MHz</p>                    |
| BeiDou  | <p>B1l</p><p>B1C</p><p>B2a</p>         | <p>1561.098 MHz</p><p>1575.420 MHz</p><p>1176.450 MHz</p> |
| QZSS    | <p>L1C/A, L1C/B</p><p>L2C</p><p>L5</p> | <p>1575.420 MHz</p><p>1227.600 MHz</p><p>1176.450 MHz</p> |
| NavIC   | <p>L1-SPS Data</p><p>L5-SPS</p>        | <p>1575.420 MHz</p><p>1176.450 MHz</p>                    |

</details>

## PNI RM3100 Specifications

<details>

<summary>Electrical specifications</summary>

<table><thead><tr><th>Symbol</th><th width="200">Parameter</th><th>Min.</th><th>Typ.</th><th>Max.</th><th>Units</th></tr></thead><tbody><tr><td>Vdd</td><td>Internal supply voltage</td><td>2.0</td><td>3.0</td><td>3.6</td><td>V</td></tr><tr><td>Vdd_IO</td><td>Supply voltage for I/O</td><td>2.0</td><td>3.0</td><td>3.6</td><td>V</td></tr><tr><td>Vdd_Ripple</td><td>Vdd ripple voltage</td><td><br></td><td><br></td><td>0.05</td><td>Vpp</td></tr><tr><td>Idd</td><td>Current consumption</td><td><br></td><td><br></td><td>1</td><td>mA</td></tr><tr><td>Vil</td><td>IO pin low level input voltage</td><td>0</td><td><br></td><td><p>0.3*</p><p>Vdd</p></td><td>V</td></tr><tr><td>Vih</td><td>IO pin high level input voltage</td><td><p>0.7*</p><p>Vdd</p></td><td><br></td><td>Vdd</td><td>V</td></tr><tr><td>Iidle</td><td>Idle Mode Current</td><td><br></td><td><br></td><td>1</td><td>µA</td></tr><tr><td>Ileak</td><td>Leakage Current @ DVDD pin (AVDD=AVSS=DVSS=0V, DVDD=3.6V) </td><td><br></td><td><br></td><td>100</td><td>nA</td></tr><tr><td>Top</td><td>Operating temperature</td><td>-20</td><td><br></td><td>+85</td><td>°C</td></tr></tbody></table>

</details>

<details>

<summary>Sensor performance</summary>

<table><thead><tr><th width="250.33331298828125">Parameter</th><th>50 cycles</th><th>100 cycles</th><th>200 cycles</th><th>Units</th></tr></thead><tbody><tr><td>Field Measurement Range</td><td>-800 to +800</td><td>-800 to +800</td><td>-800 to +800</td><td>µT</td></tr><tr><td>Gain</td><td>20</td><td>38</td><td>75</td><td>LSB/µT </td></tr><tr><td>Sensitivity</td><td>50</td><td>26</td><td>13</td><td>nT</td></tr><tr><td>Noise</td><td>30</td><td>20</td><td>15</td><td>nT</td></tr><tr><td>Noise Density @ Max. Single-Axis Sample Rate</td><td>1.2</td><td>1.2</td><td>1.2</td><td>nT/√Hz</td></tr><tr><td>Repeatability over ±200 µT </td><td>15</td><td>8</td><td>8</td><td>nT</td></tr><tr><td>Hysteresis over ±200 µT</td><td>15</td><td>15</td><td>15</td><td>nT</td></tr><tr><td>Linearity over ±200 µT</td><td>0.5</td><td>0.5</td><td>0.5</td><td>%</td></tr><tr><td>Maximum Single-Axis Sample Rate (divide by 3 for max. 3-axis sample rate) </td><td>1600</td><td>850</td><td>440</td><td>Hz</td></tr><tr><td>Single-Axis Average Current @ 24 Hz Sample Rate (equivalent to 3-axis @ 8 Hz) </td><td>70</td><td>135</td><td>260</td><td>µA</td></tr><tr><td>Bias Resistor, Rb</td><td>121</td><td>121</td><td>121</td><td>Ω</td></tr><tr><td>External Timing Resistor for Clock, REXT</td><td>33</td><td>33</td><td>33</td><td>KΩ</td></tr><tr><td>Circuit Oscillation Frequency</td><td>180</td><td>180</td><td>180</td><td>kHz</td></tr></tbody></table>

</details>

## Bosch BMP581 Specifications

<details>

<summary>Sensor performance</summary>

<table><thead><tr><th width="90">Symbol</th><th width="170.00006103515625">Parameter</th><th>Test conditions</th><th>Min.</th><th>Typ.</th><th>Max.</th><th>Units</th></tr></thead><tbody><tr><td>Type</td><td>Absolute barometric pressure sensor</td><td><br></td><td><br></td><td><br></td><td><br></td><td><br></td></tr><tr><td>Pres</td><td>Pressure Range</td><td><br></td><td>30</td><td><br></td><td>125</td><td>kPa</td></tr><tr><td>Vdd</td><td>Supply Voltage (VDD)</td><td><br></td><td>1.65</td><td><br></td><td>3.6</td><td>V</td></tr><tr><td>Idd</td><td>Current Consumption</td><td><p>Peak</p><p>Deep standby</p></td><td><br></td><td><br></td><td><p>260</p><p>0.55</p></td><td><p>µA</p><p><br></p></td></tr><tr><td>Abac</td><td>Absolute Accuracy</td><td>-5°C to 65°C</td><td><br></td><td>±30 </td><td><br></td><td>Pa</td></tr><tr><td>Reac</td><td>Relative Accuracy</td><td>700 to 1100 hPa</td><td><br></td><td>±6</td><td><br></td><td>Pa</td></tr><tr><td>Reac</td><td>Relative Accuracy</td><td>900 to 1100 hPa</td><td><br></td><td>±0.4</td><td><br></td><td>Pa</td></tr><tr><td>Noise</td><td>Noise (Lowest Bandwidth)</td><td><br></td><td><br></td><td>0.08</td><td><br></td><td>Pa</td></tr><tr><td>Temp_off</td><td>Temperature Coefficient Offset</td><td><br></td><td><br></td><td>±0.5</td><td><br></td><td>Pa</td></tr><tr><td>ltd</td><td>Long-term Drift (12 months)</td><td><br></td><td><br></td><td>±0.1</td><td><br></td><td>Pa</td></tr><tr><td>Sd</td><td>Solder Drift</td><td><br></td><td><br></td><td>±30</td><td><br></td><td>Pa</td></tr><tr><td>ODR</td><td>Output Data Rate</td><td><p>continuous mode</p><p>normal mode</p></td><td><br><br></td><td><br></td><td><p>480</p><p>240</p></td><td><p>Hz</p><p>Hz</p></td></tr><tr><td>Int</td><td>Interfaces</td><td>I²C</td><td><br></td><td><br></td><td>1</td><td>MHz</td></tr><tr><td>Temp</td><td>Temperature Range</td><td><br></td><td>-40</td><td><br></td><td>85</td><td>°C</td></tr></tbody></table>

</details>

## Mechanical Drawings

<figure><img src="https://4044068788-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcC0fAohG3DI42fuZHBRz%2Fuploads%2FJs9WEoQcYNq6B9HsUuB5%2FPioneer_Dimensions.png?alt=media&#x26;token=42e1cbee-fd9e-4eaa-89ed-b4378b2f2002" alt=""><figcaption></figcaption></figure>
