HOLYBRO H-RTK mosaic-G5 Dual Antenna

HOLYBRO H-RTK mosaic-G5 – Dual-Antenna RTK GNSS for Precise Navigation and Heading

The HOLYBRO H-RTK mosaic-G5 is a compact dual-antenna RTK GNSS receiver for UAVs, robotics, and autonomous systems. The system is based on the powerful Septentrio mosaic-G5 P3H and enables centimeter-level positioning as well as GNSS-based heading and pitch or roll determination.

By using two GNSS antennas, the system's orientation can be determined independently of a conventional magnetic compass. This is particularly beneficial in environments where motors, high-current wiring, metal structures, or other electromagnetic interference sources may affect magnetometer accuracy.

In addition, the HOLYBRO H-RTK mosaic-G5 features an integrated RM3100 magnetometer, which can be used as an additional heading source. The combination of dual-antenna GNSS, RTK, and integrated compass sensing provides a powerful foundation for professional navigation and autonomous applications.

Dual-Antenna GNSS Heading

With two connected GNSS antennas, the HOLYBRO H-RTK mosaic-G5 can determine the vehicle's orientation directly from GNSS signals. This significantly reduces dependence on magnetic compasses.

Especially on larger UAVs, UGVs, or other autonomous platforms, electric propulsion systems, power wiring, and metallic structures can affect the measurements of conventional magnetometers. GNSS-based heading provides a robust alternative.

• GNSS-based heading determination
• Pitch or roll determination via dual-antenna GNSS
• Reduced dependence on magnetic compasses
• Suitable for UAVs, UGVs, and autonomous systems

Centimeter-Level RTK Positioning

The HOLYBRO H-RTK mosaic-G5 provides high-precision RTK positioning with centimeter-level accuracy. This makes the system suitable for applications requiring particularly precise navigation and positioning.

• Horizontal RTK Accuracy: 0.6 cm + 0.5 ppm
• Vertical RTK Accuracy: 1.0 cm + 1 ppm

Quad-Band GNSS Positioning

In single-antenna operation, the receiver supports powerful quad-band GNSS positioning. In dual-antenna operation, a triple-band solution is available for heading determination.

Operation with one or two antennas can be selected according to the specific application, allowing the system to be flexibly adapted to different vehicle and project requirements.

Supported GNSS Systems and Frequencies

• GPS: L1C/A, L1C, L2C, L2P(Y), L5
• GLONASS: L1CA, L2CA, L2P, L3 CDMA
• BeiDou: B1I, B1C, B2a, B2I, B2b, B3I
• Galileo: E1, E5a, E5b, E6
• QZSS: L1C/A, L1C/B, L2C, L5, L6 (future update)

Septentrio AIM+ Anti-Jamming and Anti-Spoofing

The HOLYBRO H-RTK mosaic-G5 uses Septentrio AIM+ technology to monitor and detect RF interference. The system can detect jamming and spoofing effects and apply automatic measures to mitigate such interference.

This makes the receiver particularly suitable for demanding operating environments where robust GNSS navigation is required.

Septentrio GNSS+ Technologies

In addition to AIM+, the mosaic-G5 P3H incorporates further Septentrio technologies designed to improve GNSS performance under challenging conditions.

• AIM+: Jamming and spoofing detection with automatic interference mitigation
• LOCK+: Robust signal tracking under strong mechanical shocks and vibrations
• APME+: Multipath detection and mitigation for code and phase measurements
• IONO+: Improved protection against ionospheric disturbances
• RAIM+: Receiver Autonomous Integrity Monitoring

GNSS Attitude Accuracy

The accuracy of GNSS-based attitude determination depends, among other factors, on the distance between the two antennas. Increasing the antenna baseline can improve heading and pitch/roll accuracy.

• 1 m Antenna Baseline: Heading 0.15°, Pitch/Roll 0.25°
• 5 m Antenna Baseline: Heading 0.03°, Pitch/Roll 0.05°

Position Accuracy

• Standalone Horizontal: 1.2 m
• Standalone Vertical: 1.9 m
• DGNSS Horizontal: 0.4 m
• DGNSS Vertical: 0.7 m
• RTK Horizontal: 0.6 cm + 0.5 ppm
• RTK Vertical: 1.0 cm + 1 ppm

Fast Position Acquisition

• Cold Start: ≤ 35 seconds
• Warm Start: ≤ 10 seconds
• Re-Acquisition: 1 second
• Latency: < 10 ms

High-Precision Timing

In addition to precise positioning, the HOLYBRO H-RTK mosaic-G5 provides highly accurate timing. This makes the module suitable for applications requiring precise time synchronization between different systems.

• PPS Resolution: 1.4 ns
• Event Accuracy: < 3 ns

Integrated RM3100 Magnetometer

In addition to GNSS-based heading determination, the system features an integrated RM3100 magnetometer. It can be used as an additional or alternative heading source.

Onboard Data Logging

The HOLYBRO H-RTK mosaic-G5 features integrated microSD functionality for local data logging. GNSS data can therefore be stored directly on the module and subsequently used for analysis, evaluation, or development purposes.

Interfaces

• Port 1: USB Type-C
• Port 2: UART1 – GH1.25 10-Pin
• Port 3: UART2 – GH1.25 6-Pin
• Antenna Connector on Module: SMA Female
• Antenna Connector: SMA Male

High-Performance Antennas

Two high-performance GNSS antennas for dual-antenna operation are included. The antennas enable precise GNSS-based heading determination and support reception of the system's various frequency bands.

• Maximum Antenna Gain: 2 dBi
• LNA Gain: 33 ± 2 dB
• Antenna Diameter: 40 mm
• Antenna Height: 76 mm

Robust Aluminum Enclosure

The receiver is housed in a compact CNC-machined aluminum enclosure. This provides mechanical protection for the sensitive GNSS electronics and enables reliable integration into professional UAV, UGV, and robotics platforms.

Features

• Centimeter-level RTK positioning
• Septentrio mosaic-G5 P3H GNSS receiver
• Dual-antenna GNSS heading
• GNSS-based pitch/roll determination
• Quad-band single-antenna positioning
• Triple-band dual-antenna heading
• Selectable single- or dual-antenna operation
• Integrated RM3100 magnetometer
• AIM+ anti-jamming and anti-spoofing technology
• LOCK+ for robust signal tracking under vibration
• APME+ multipath mitigation
• IONO+ protection against ionospheric disturbances
• RAIM+ integrity monitoring
• Onboard microSD data logging
• USB-C interface
• Two UART interfaces
• Two high-performance GNSS antennas
• CNC-machined aluminum enclosure

Technical Specifications

• Product: HOLYBRO H-RTK mosaic-G5
• GNSS Receiver: Septentrio mosaic-G5 P3H
• Application: Rover / Moving Baseline Rover
• Maximum Position Update Rate: 20 Hz
• Default Baud Rate: 230400 at 5 Hz
• Baud Rate: Configurable
• Operating Voltage: 4.75–5.25 V
• Typical Power Consumption: 1.4 W without antennas
• Maximum Power Consumption: 1.8 W
• Operating Temperature: -40 °C to +85 °C
• Module Dimensions: 48 × 52.3 × 22 mm
• Weight: 48.5 g without antennas

Supported Protocols

• NMEA
• SBF
• RTCM Input

Rover and Moving Baseline Rover

The HOLYBRO H-RTK mosaic-G5 is suitable for conventional rover applications as well as Moving Baseline Rover configurations. With current firmware, the system can also be used as either a rover or a base station.

Compatible with PX4 and ArduPilot

The HOLYBRO H-RTK mosaic-G5 can be integrated into professional UAV systems based on PX4 and ArduPilot. This makes it particularly suitable for custom-developed platforms requiring a high-precision positioning and heading solution.

Package Contents

• 1 × HOLYBRO H-RTK mosaic-G5
• 2 × High-Performance GNSS Antennas
• 2 × Antenna Mounts for H-RTK
• 2 × SMA Cables, 40 cm
• 2 × GH 10-Pin Cables
• 1 × GH 6-Pin Cable
• 1 × GH 10-Pin to 6-Pin Cable
• 1 × USB-C Cable

For Professional Autonomous Systems

The HOLYBRO H-RTK mosaic-G5 combines high-precision RTK positioning with GNSS-based heading determination and advanced technologies designed to improve signal robustness. Its dual-antenna architecture makes the system particularly suitable for applications requiring reliable orientation independent of magnetic interference.

This makes the HOLYBRO H-RTK mosaic-G5 suitable for professional UAVs, UGVs, robotics platforms, and other autonomous systems where precise navigation, high update rates, and robust GNSS performance are essential.