H-RTK Mosaic-G5

Overview & Specifications

Overview & Specifications

Overview

The Holybro mosaic-G5 is a cutting-edge RTK GPS module that harnesses the power of Septentrio's elite mosaic-G5 GNSS receiver. It comes with an RM3100 magnetometer, two high-performance antennas, and an aluminum CNC enclosure. It offers heading and pitch or heading and roll angles in addition to high-accuracy positioning, ideal for autonomous navigation.

With its dual-antenna input, mosaic-G5 can provide compass-less YAW information to the controller (commonly called GPS Heading or Moving Baseline Yaw). Employing GPS as the yaw source instead of a traditional compass eliminates the inaccuracies caused by magnetic interference from vehicle motors, electrical systems, and environmental sources like metallic structures or power lines, ensuring precise yaw reports to the controller and enhancing overall navigation reliability and performance in challenging environments.

Septentrio's mosaic-G5 GNSS receiver module boasts a suite of proprietary technologies that set it apart from the competition. Septentrio’s AIM+ (Advanced Interference Mitigation) technology safeguards against intentional and unintentional jamming sources, ensuring consistent and reliable performance even in challenging RF environments.

Septentrio’s LOCK+ technology ensures optimal tracking even under rapid antenna displacement in the event of high vibrations or shocks, maintaining high accuracy and stable operation in high-dynamic situations. It is ideal for demanding applications such as UAVs and robotics. Furthermore, Septentrio's advanced RAIM+ (Receiver Autonomous Integrity Monitoring) algorithm delivers unmatched integrity and reliability, providing a safety net for mission-critical applications.

Features

Specification

ProductHolybro H-RTK Mosaic-G5
Application

Rover

Moving Baseline Rover

GNSS

GPS: L1C/A, L1C, L2C, L2PY, L5

GLONASS: L1CA, L2CA, L2P, L3 CDMA

Beidou: B1I, B1C, B2a, B2I, B2b, B3I

Galileo: E1, E5a, E5b, E6

QZSS: L1C/A, L1 C/B, L2C, L5, L6

RTK performance

Horizontal accuracy 0.6 cm + 0.5 ppm

Vertical accuracy 1 cm + 1 ppm

Positioning accuracy:
ModeHorizontalVertical
Standalone1.2m1.9m
DGNSS0.4m0.7m
RTK0.6cm+0.5ppm1.0cm+1ppm
GNSS attitude accuracy:
Antenna SeparationHeadingPitch/Roll
1m0.15°0.25°
5m0.03°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 Gain33±2dB
Time precision

PPS resolution: 1.4 ns

Event accuracy: < 3 ns

Maximum update ratePosition: 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

Weight48.5g (without antennas)
Advanced Technologies inside

AIM+ Advanced functionality with jamming and spoofing detection and automatic mitigation

LOCK+ for robust tracking during high vibrations and shocks

APME+ multipath mitigation to disentangle the direct signal and those reflected from nearby structures

IONO+ protection against ionospheric disturbances

Quick Start Guide

Quick Start Guide

ℹ️ Info

Ardupilot & PX4 setup process is identical to the H-RTK mosaic-H. The only difference is that mosaic-G5 currently cannot operate as a base unit.

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Pinouts

Pinouts

🖼️ [Image — to be added]

Dimensions

Dimensions

🖼️ [Image — to be added]

Comparison Between mosaic-H & mosaic-G5 P3H

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
RTK Performance

Horizontal: 0.6cm + 0.5ppm

Vertical: 1cm + 1ppm

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 3cm/s
Heading accuracy 0.15deg (1m baseline) 0.15deg (1m baseline)
Maximum update rate

Measurements only: 100Hz

Standalone: 50Hz

RTK: 20Hz

 20Hz
latency <10ms <10ms
Acquisition 33dBHz 30dBHz
Time Precision

PPS resolution: 1.4ns

Event accuracy: <3ns

PPS resolution: 5ns

Event accuracy: <20ns
Anti-jamming and anti-spoofing

AIM+ the most advanced anti-jamming, anti-spoofing on-board interference mitigation technology on the market (narrow and wide band, chirp jammers).

LOCK+ for robust tracking during high vibrations and

APME+ multipath mitigation to disentangle direct signal and those reflected from nearby

IONO+ provides advanced protection against ionospheric

AIM+ the most advanced anti-jamming, anti-spoofing on-board interference mitigation technology on the market (narrow and wide band, chirp jammers).

LOCK+ for robust tracking during high vibrations and

APME+ multipath mitigation to disentangle direct signal and those reflected from nearby

IONO+ provides advanced protection against ionospheric
OSNMA Support Yes No
Base/Rover Base and Rover Rover only
Protocols NMEA, SBF, RINEX, RTCM, CMR NMEA, SBF, RTCM input
Web interface and Ethernet Yes No
RAW data Yes No

Supported Firmware

Supported Firmware

PX4

Ardupilot

Download

Download

RXTools

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ℹ️ Info

For the latest RXTool and manual, please visit Septentrio's website: https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools