Overview
The YARI M9N GNSS is an all-in-one positioning and navigation module designed for Pixhawk and ArduPilot-based systems. It integrates a u-blox NEO-M9N multi-constellation GNSS receiver with an onboard magnetometer, barometer, IMU, safety switch, buzzer, and status LEDs, all exposed over DroneCAN. The module is ideal for UAVs, robotics platforms, and mapping applications that require robust GNSS performance and high-quality auxiliary sensing.
Key Highlights
- GNSS Receiver: u-blox NEO-M9N, meter-level positioning (up to 0.7 m) with concurrent GPS, Galileo, GLONASS & BeiDou support, plus anti-jamming/spoofing features and RF interference mitigation.
- Antenna: Taoglas ceramic patch antenna, compact 25 × 25 × 4 mm footprint, optimized for L1 bands, providing reliable signal quality in challenging environments.
- Enhanced RF Front End: External LNA + SAW filtering for improved interference rejection and GNSS robustness.
- Integrated sensors: iSentek IST8310 magnetometer, InvenSense ICP-20100 barometer, InvenSense ICM-42688-P 6-axis IMU
- DroneCAN peripheral firmware (open source): Plug-and-play operation with Pixhawk, Cube, Durandal, and any DroneCAN-compatible flight controller.
- Built-in safety & feedback: Tactile safety button, buzzer, and multiple status LEDs (sat-fix, system status, safety).
- USB-C port: Direct u-center access without opening the enclosure.
- Standard Pixhawk connectors: 1× CAN (4-pin JST-GH), 1× Debug (6-pin JST-SH), 1× USB-C
Technical Specifications
| Sensors and Processing | |
|---|---|
| GNSS Receiver | u-blox NEO-M9N |
| Antenna | Taoglas CGGBP.25.4.A.02 |
| Magnetometer | iSentek IST8310 |
| Barometer | InvenSense ICP-20100 |
| IMU | InvenSense ICM-42688-P (6-axis) |
| MCU | STM32F412CEU6 |
| Indicators | Safety LED, GNSS Sat-Fix LED, RGB Status LED |
| Built-ins | Safety switch and buzzer |
| Interfaces | |
| DroneCAN | 1 × Pixhawk Standard CAN (4-pin JST-GH) |
| Debug | 1 × Pixhawk Standard Debug (6-pin JST-SH) |
| USB | 1 × USB-C for u-center configuration |
| Electrical and Environmental | |
| Supply Voltage | 5 V |
| Current | 110 mA average, 117 mA max |
| Operating Temperature | −25 to +85 °C |
| Mechanical | |
| Dimensions | 60 mm × 60 mm × 15 mm |
| Weight | 30 g |
| Other | |
| Country of Origin | India 🇮🇳 |
GNSS Performance & Bands
| Position accuracy (best) | up to 0.7 m |
| Horizontal accuracy | 2.0 m |
| Speed accuracy | 0.05 m/s |
| Navigation update rate | up to 25 Hz |
| Acquisition | Cold start: 24 s Hot start: 2 s Aided start: 2 s |
| Tracked satellites | 32+ |
| Sensitivity | Tracking: −167 dBm Cold/hot start: −148 dBm Reacquisition: −160 dBm |
| Frequency bands | GPS L1 C/A GLONASS L1OF BeiDou B1I Galileo E1B/C |
Dimensions & Interface
