H-RTK mosaic-G5 (Dual Antenna Heading)

Overview The Holybro H-RTK mosaic-G5 is a compact dual-antenna RTK GNSS receiver designed for UAVs, robotics, and autonomous systems. Built around the Septentrio mosaic-G5 P3H module, it provides centimeter-level positioning together with GNSS-based heading and pitch or roll measurements. Dual-antenna GNSS heading reduces reliance on magnetic compasses, helping maintain accurate orientation in environments affected by motors, power wiring, metallic structures, and other sources of magnetic interference. An integrated RM3100 magnetometer provides an additional backup heading source. The receiver supports quad-band GNSS positioning in single-antenna operation and tri-band heading in dual-antenna operation. It also includes onboard microSD data logging, USB-C, two UART interfaces, dual high-performance antennas, and a CNC-machined aluminum enclosure. Septentrio’s AIM+ technology monitors, detects, and mitigates RF interference, including jamming and spoofing. Additional GNSS+ technologies improve tracking under vibration, multipath, and ionospheric disturbances, supporting reliable operation in demanding environments. Features Best-in-class centimeter-level RTK positioning accuracy Advanced Septentrio GNSS+ technologies for enhanced resilience against interference, multipath, vibration, and ionospheric disturbances Quad-band single-antenna positioning and triple-band dual-antenna heading Command-selectable single- or dual-antenna operation Compact design with a rugged CNC-machined aluminum enclosure Specifications Product Holybro H-RTK mosaic-G5 Receiver Septentrio mosaic-G5 P3H Application Rover Moving Baseline Rover GNSS 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) RTK performance Horizontal accuracy 0.6 cm + 0.5 ppm Vertical accuracy 1 cm + 1 ppm Positioning accuracy Mode Horizontal Vertical Standalone 1.2m 1.9m DGNSS 0.4m 0.7m RTK 0.6cm+0.5ppm 1.0cm+1ppm GNSS attitude accuracy Antenna Separation Heading Pitch/Roll 1m 0.15° 0.25° 5m 0.03° 0.05° Time to first fix Cold start: ≤ 35s Warm start: ≤ 10s Re-acquisition: 1 s Latency < 10 ms Magnetometer (Compass) RM3100 Antennas Peak Gain (MAX) 2dBi LNA Gain 33±2dB Time precision PPS resolution: 1.4 ns Event accuracy: < 3 ns Maximum update rate Position: 20Hz Ports Port 1: USB Type-C Port 2: UART1 (GH1.25 10pin) Port 3: UART2 (GH1.25 6pin) Antenna Connection Type Board: SMA female Antenna: SMA male Baud rate: (Adjustable) 230400 5Hz default Working voltage: 4.75V~5.25V Power Consumption 1.4 W typ(without antennas) 1.8 W max Operating Temperature -40℃ to 85℃ Dimension Board: 48*52.3*22mm Antenna Diameter: 40mm Antenna height: 76mm Weight 48.5g (without antennas) Advanced Technologies inside AIM+ Advanced functionality with jamming and spoofing detection automatic interference mitigation LOCK+ superior tracking robustness under heavy mechanical shocks or vibrations APME+ a posteriori multipath estimator for code and phase multipath mitigation IONO+ provides advanced protection against ionospheric disturbances. RAIM+ receiver autonomous integrity monitoring Comparison Between mosaic-H & mosaic-G5 P3H mosaic-H mosaic-G5 P3H Bands supported 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 (L1) GPS: L1C/A,L1C, L2C, L2P(Y), L5 Galileo: E1, E5a, E5b, E6 GLONASS: L1CA, L2CA, L2P, L3CDMA Beidou: B1I, B1C, B2a, B2I, B2b, B3I QZSS: L1C/A, L1C/B, L2C, L5, L6 (future update) RTK Performance Horizontal: 0.6cm + 0.5ppm Vertical: 1cm + 1ppm Other Positioning Modes Accuracy Standalone: 1.2m DGNSS: 0.4m SBAS: 0.6m Standalone: 1.2m DGNSS: 0.4m Velocity Accuracy 3cm/s Heading accuracy 0.15deg (1m baseline) Maximum update rate Measurements only: 100Hz Standalone: 50Hz RTK: 20Hz 20Hz Latency <10ms Acquisition 33dBHz 30dBHz Time Precision PPS resolution: 5ns Event accuracy: <20ns PPS resolution: 1.4ns Event accuracy: <3ns Anti-jamming and anti-spoofing AIM+ Advanced functionality with jamming and spoofing detection and automatic interference mitigation LOCK+ superior tracking robustness under heavy mechanical shocks or vibrations APME+ a posteriori multipath estimator for code and phase multipath mitigation IONO+ provides advanced protection against ionospheric disturbances. RAIM+ receiver autonomous integrity monitoring OSNMA Support Yes Base/Rover Base and Rover Rover and Base (with latest firmware) Protocols NMEA, SBF, RINEX, RTCM, CMR NMEA, SBF, RTCM input Web interface and Ethernet Yes No Raw Measurement Yes Setup Guide & Reference Links: Pinout Dimension Setup & Getting Started (Ardupilot) Setup & Getting Started (PX4) Septentrio RXTools (GNSS receiver control and analysis software) Package Included: 1x H-RTK mosaic-G5 2x High Performance Antenna 2x Antenna Mount for H-RTK 2x SMA Cable(40CM) 2x GH 10P Cable 1x GH 6P Cable 1x GH 10P to 6P Cable 1x USB-C Cable Accessories 30° Antenna Mount Antenna Extension Cable GPS Extension Cable