HOLYBRO H-RTK mosaic-H Dual Antenna

HOLYBRO H-RTK mosaic-H – High-Precision Dual-Antenna RTK GNSS for Professional UAV and Robotics Systems

The HOLYBRO H-RTK mosaic-H is a high-precision RTK GNSS module based on the powerful Septentrio mosaic-H receiver. It has been developed for professional UAVs, robotics, and autonomous systems and combines centimeter-level RTK positioning with dual-antenna GNSS heading, high update rates, and extensive functions for data logging, analysis, and post-processing.

The package includes two high-performance antennas, an integrated IST8310 magnetometer, and a robust CNC-machined aluminum enclosure. In addition, the system provides features such as spectrum analysis, data logging, PPK support, and flexible configuration for different application scenarios.

Dual-Antenna GNSS Heading

By using two GNSS antennas, the HOLYBRO H-RTK mosaic-H can determine yaw orientation directly via GNSS. This function is commonly referred to as GPS Heading or Moving Baseline Yaw.

This can reduce dependence on a conventional magnetic compass. Particularly on UAVs, UGVs, and other autonomous platforms, motors, high-current wiring, metallic structures, and other sources of electromagnetic interference can affect magnetometer readings. GNSS-based heading determination provides a particularly reliable orientation solution in such environments.

Centimeter-Level RTK Positioning

The HOLYBRO H-RTK mosaic-H provides high-precision RTK positioning at centimeter level, making it suitable for applications requiring highly accurate navigation and positioning.

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

Multi-Constellation and Multi-Frequency GNSS

The Septentrio mosaic-H supports multiple global navigation satellite systems and frequency bands simultaneously. This provides access to a large number of available satellites for navigation, heading, and RTK positioning.

• GPS: L1, L2
• Galileo: E1, E5b
• GLONASS: L1, L2
• BeiDou: B1, B2, B3
• QZSS: L1C/A, L1C/B, L2
• SBAS: EGNOS, WAAS, GAGAN, MSAS, SDCM on L1

Septentrio AIM+ Anti-Jamming and Anti-Spoofing

With Septentrio's AIM+ technology, the HOLYBRO H-RTK mosaic-H provides advanced functions for detecting and mitigating GNSS interference. Both unintentional and intentional interference can be detected and automatically mitigated.

The system also supports OSNMA, providing an additional security feature for modern GNSS applications.

LOCK+, APME+ and IONO+

In addition to AIM+, the mosaic-H receiver incorporates further Septentrio technologies designed to improve the robustness of GNSS navigation under challenging conditions.

• LOCK+: robust signal tracking under strong vibrations, shocks, and rapid antenna movements
• APME+: mitigation of multipath effects and reflected GNSS signals
• IONO+: improved protection against ionospheric disturbances
• RAIM+: Receiver Autonomous Integrity Monitoring for additional integrity monitoring

GNSS Attitude Accuracy

The accuracy of GNSS-based heading and attitude determination depends, among other factors, on the distance between the two antennas. A larger antenna baseline can provide higher 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
• SBAS Horizontal: 0.6 m
• SBAS Vertical: 0.8 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

High Update Rates

The HOLYBRO H-RTK mosaic-H supports high measurement and update rates, making it particularly suitable for dynamic UAV and robotics applications.

• Measurements Only: up to 100 Hz
• Standalone, SBAS, DGPS + Attitude: up to 50 Hz
• RTK + Attitude: up to 20 Hz
• Latency: < 10 ms

Fast Position Acquisition

• Cold Start: ≤ 45 seconds
• Hot Start: ≤ 20 seconds
• Re-Acquisition: 1 second

Integrated IST8310 Magnetometer

In addition to GNSS-based heading determination, the HOLYBRO H-RTK mosaic-H features an integrated IST8310 magnetometer. It can be used as an additional or alternative heading source.

PPK, Data Logging and Post-Processing

The HOLYBRO H-RTK mosaic-H provides extensive capabilities for data logging and post-processing. This makes the module suitable not only for conventional RTK applications but also for PPK and other professional surveying and development applications.

• Onboard data logging
• PPK support
• Spectrum analysis
• Post-processing
• Raw data access

Rover, Moving Baseline and Base Station

The HOLYBRO H-RTK mosaic-H can be flexibly used in different GNSS configurations, making it suitable for both mobile systems and stationary reference applications.

• Rover
• Moving Baseline Rover
• Base Station
• PPK

Interfaces

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

Controls and Buzzer

• LOG Button: short press starts or stops data logging
• LOG Button – Long Press: mounts/unmounts the SD card
• Safety Switch: safety function for the flight controller
• Buzzer: integrated

High-Performance Antennas

The package includes two high-performance GNSS antennas for dual-antenna operation and precise heading determination.

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

High Timing Accuracy

• xPPS Out: 5 ns
• Event Accuracy: < 20 ns

Features

• Septentrio mosaic-H GNSS receiver
• Centimeter-level RTK positioning
• Dual-antenna GNSS heading
• Moving Baseline Yaw
• Multi-constellation and multi-frequency GNSS
• GPS, Galileo, GLONASS, BeiDou, QZSS, and SBAS
• AIM+ anti-jamming and anti-spoofing
• OSNMA support
• LOCK+ for robust operation under vibration and shock
• APME+ multipath mitigation
• IONO+ protection against ionospheric disturbances
• RAIM+ integrity monitoring
• Integrated IST8310 magnetometer
• Measurement rates up to 100 Hz
• RTK + Attitude up to 20 Hz
• PPK support
• Data logging and post-processing
• Web interface and Ethernet
• CNC-machined aluminum enclosure
• Compatible with PX4 and ArduPilot

Technical Specifications

• Product: HOLYBRO H-RTK mosaic-H
• GNSS Receiver: Septentrio mosaic-H
• Magnetometer: IST8310
• Default Baud Rate: 230400 at 5 Hz
• Baud Rate: configurable
• Operating Voltage: 4.75–5.25 V
• Typical Power Consumption: 0.6 W
• Maximum Power Consumption: 1.1 W
• Operating Temperature: -40 °C to +85 °C
• Module Dimensions: 42.7 × 71.8 × 13.3 mm
• Weight: 54.5 g without antennas

Supported Protocols

• NMEA
• SBF
• RINEX
• RTCM
• CMR

Firmware Compatibility

• ArduPilot
• PX4

Package Contents

• 1 × HOLYBRO H-RTK mosaic-H
• 2 × High-Performance GNSS Antennas
• 2 × H-RTK Antenna Mounts
• 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 RTK, UAV and Robotics Applications

The HOLYBRO H-RTK mosaic-H combines high-precision RTK navigation with dual-antenna GNSS heading, high update rates, and advanced interference mitigation capabilities. This makes the system particularly suitable for professional UAVs, UGVs, robotics platforms, and autonomous systems.

With features such as PPK, data logging, raw data access, a web interface, and Ethernet connectivity, the mosaic-H also provides extensive capabilities for research, development, surveying, and demanding navigation projects.