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
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Product |
Holybro H-RTK mosaic-G5 |
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Receiver |
Septentrio mosaic-G5 P3H |
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Application |
Rover Moving Baseline Rover |
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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) |
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RTK performance |
Horizontal accuracy 0.6 cm + 0.5 ppm Vertical accuracy 1 cm + 1 ppm |
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Positioning accuracy |
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GNSS attitude accuracy |
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Time to first fix |
Cold start: ≤ 35s Warm start: ≤ 10s Re-acquisition: 1 s |
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Latency |
< 10 ms |
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Magnetometer (Compass) |
RM3100 |
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Antennas Peak Gain (MAX) |
2dBi |
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LNA Gain |
33±2dB |
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Time precision |
PPS resolution: 1.4 ns Event accuracy: < 3 ns |
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Maximum update rate |
Position: 20Hz |
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Ports |
Port 1: USB Type-C Port 2: UART1 (GH1.25 10pin) Port 3: UART2 (GH1.25 6pin) |
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Antenna Connection Type |
Board: SMA female Antenna: SMA male |
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Baud rate: (Adjustable) |
230400 5Hz default |
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Working voltage: |
4.75V~5.25V |
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Power Consumption |
1.4 W typ(without antennas) 1.8 W max |
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Operating Temperature |
-40℃ to 85℃ |
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Dimension |
Board: 48*52.3*22mm Antenna Diameter: 40mm Antenna height: 76mm |
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Weight |
48.5g (without antennas) |
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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
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Comparison Between mosaic-H & mosaic-G5 P3H
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mosaic-H |
mosaic-G5 P3H |
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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) |
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RTK Performance |
Horizontal: 0.6cm + 0.5ppm Vertical: 1cm + 1ppm |
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Other Positioning Modes Accuracy |
Standalone: 1.2m DGNSS: 0.4m SBAS: 0.6m |
Standalone: 1.2m DGNSS: 0.4m |
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Velocity Accuracy |
3cm/s |
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Heading accuracy |
0.15deg (1m baseline) |
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Maximum update rate |
Measurements only: 100Hz Standalone: 50Hz RTK: 20Hz |
20Hz |
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Latency |
<10ms |
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Acquisition |
33dBHz |
30dBHz |
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Time Precision |
PPS resolution: 5ns Event accuracy: <20ns |
PPS resolution: 1.4ns Event accuracy: <3ns |
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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 |
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OSNMA Support |
Yes |
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Base/Rover |
Base and Rover |
Rover and Base (with latest firmware) |
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Protocols |
NMEA, SBF, RINEX, RTCM, CMR |
NMEA, SBF, RTCM input |
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Web interface and Ethernet |
Yes |
No |
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Raw Measurement |
Yes |
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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
| GPS Extension Cable | ||
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