# 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

* Compact size
* Low power consumption
* Multi-constellation, quad-band GNSS
* Dual antenna heading with triple band GNSS
* Best-in-class RTK accuracy
* Advanced Septentrio GNSS+ algorithm

#### Specification

<table data-header-hidden><thead><tr><th valign="top"></th><th valign="top"></th><th></th></tr></thead><tbody><tr><td valign="top">Product</td><td valign="top">Holybro H-RTK Mosaic-G5</td><td></td></tr><tr><td valign="top">Application</td><td valign="top"><p>Rover</p><p>Moving Baseline Rover</p></td><td></td></tr><tr><td valign="top">GNSS</td><td valign="top"><p>GPS: L1C/A, L1C, L2C, L2PY, L5</p><p>GLONASS: L1CA, L2CA, L2P, L3 CDMA</p><p>Beidou: B1I, B1C, B2a, B2I, B2b, B3I</p><p>Galileo: E1, E5a, E5b, E6</p><p>QZSS: L1C/A, L1 C/B, L2C, L5, L6</p></td><td></td></tr><tr><td valign="top">RTK performance</td><td valign="top"><p>Horizontal accuracy 0.6 cm + 0.5 ppm</p><p>Vertical accuracy 1 cm + 1 ppm</p></td><td></td></tr><tr><td valign="top"><strong>Positioning accuracy:</strong></td><td valign="top"> </td><td></td></tr><tr><td valign="top"><em>Mode</em></td><td valign="top"><em>Horizontal</em></td><td><em>Vertical</em></td></tr><tr><td valign="top"><em>Standalone</em></td><td valign="top"><em>1.2m</em></td><td><em>1.9m</em></td></tr><tr><td valign="top"><em>DGNSS</em></td><td valign="top"><em>0.4m</em></td><td><em>0.7m</em></td></tr><tr><td valign="top"><em>RTK</em></td><td valign="top"><em>0.6cm+0.5ppm</em></td><td><em>1.0cm+1ppm</em></td></tr><tr><td valign="top"><strong>GNSS attitude accuracy:</strong></td><td valign="top"> </td><td></td></tr><tr><td valign="top"><em>Antenna Separation</em></td><td valign="top"><em>Heading</em></td><td><em>Pitch/Roll</em></td></tr><tr><td valign="top"><em>1m</em></td><td valign="top"><em>0.15°</em></td><td><em>0.25°</em></td></tr><tr><td valign="top"><em>5m</em></td><td valign="top"><em>0.03°</em></td><td><em>0.05°</em></td></tr><tr><td valign="top">Time to first fix</td><td valign="top"><p>Cold start: ≤ 35s</p><p>Warm start: ≤ 10s</p><p>Re-acquisition: 1 s</p></td><td></td></tr><tr><td valign="top">Latency</td><td valign="top">&#x3C; 10 ms</td><td></td></tr><tr><td valign="top">Magnetometer (Compass)</td><td valign="top">RM3100</td><td></td></tr><tr><td valign="top">Antennas Peak Gain (MAX)</td><td valign="top">2dBi</td><td></td></tr><tr><td valign="top">LNA Gain</td><td valign="top">33±2dB</td><td></td></tr><tr><td valign="top">Time precision</td><td valign="top"><p>PPS resolution: 1.4 ns</p><p>Event accuracy: &#x3C; 3 ns</p></td><td></td></tr><tr><td valign="top">Maximum update rate</td><td valign="top">Position: 20Hz</td><td></td></tr><tr><td valign="top">Ports</td><td valign="top"><p>Port 1: USB Type-C</p><p>Port 2: UART1 (GH1.25 10pin)</p><p>Port 3: UART2 (GH1.25 6pin)</p></td><td></td></tr><tr><td valign="top">Antenna Connection Type</td><td valign="top"><p>Board: SMA female</p><p>Antenna: SMA male</p></td><td></td></tr><tr><td valign="top">Baud rate: (Adjustable)</td><td valign="top">230400 5Hz default</td><td></td></tr><tr><td valign="top">Working voltage:</td><td valign="top">4.75V~5.25V</td><td></td></tr><tr><td valign="top">Power Consumption</td><td valign="top"><p>1.4 W typ(without antennas)</p><p>1.8 W max</p></td><td></td></tr><tr><td valign="top">Operating Temperature</td><td valign="top">-40℃ to 85℃</td><td></td></tr><tr><td valign="top">Dimension</td><td valign="top"><p>Board: 48*52.3*22mm</p><p>Antenna Diameter: 40mm</p><p>Antenna height: 76mm</p></td><td></td></tr><tr><td valign="top">Weight</td><td valign="top">48.5g (without antennas)</td><td></td></tr><tr><td valign="top">Advanced Technologies inside</td><td valign="top"><p>AIM+ Advanced functionality with jamming and spoofing detection and automatic mitigation</p><p>LOCK+ for robust tracking during high vibrations and shocks</p><p>APME+ multipath mitigation to disentangle the direct signal and those reflected from nearby structures</p><p>IONO+ protection against ionospheric disturbances</p></td><td></td></tr></tbody></table>

# 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.

{% content-ref url="/pages/YOHs8uzlO9LFl9uoCXlR" %}
[Setup & Getting Started (Ardupilot)](/gps-and-rtk-system/h-rtk-mosaic-h/setup-and-getting-started-ardupilot.md)
{% endcontent-ref %}

{% content-ref url="/pages/FpdWXIEKGh2j5NsXR8yi" %}
[Setup & Getting Started (PX4)](/gps-and-rtk-system/h-rtk-mosaic-h/setup-and-getting-started-px4.md)
{% endcontent-ref %}

# 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                                                                                                                                                                                                                                                                                                                                                                                   |
| --------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <mark style="color:$warning;">Bands supported</mark>                  | <p> GPS: L1, L2</p><p> Galileo: E1, E5b</p><p> GLONASS: L1, L2</p><p> Beidou: B1, B2, B3</p><p> QZSS: L1C/A, L1C/B, L2  </p><p> SBAS: Egnos, WAAS, GAGAN, MSAS, SDCM (L1)</p>                                                                                                                                                                                                                    | <p>GPS: L1C/A,L1C, L2C, L2P(Y), L5</p><p>Galileo: E1, E5a, E5b, E6</p><p>GLONASS: L1CA, L2CA, L2P, L3CDMA</p><p>Beidou: B1I, B1C, B2a, B2I, B2b, B3I</p><p>QZSS: L1C/A, L1C/B, L2C, L5, L6</p>                                                                                                                                                                                                  |
| <mark style="color:$success;">RTK Performance</mark>                  | <p>Horizontal: 0.6cm + 0.5ppm</p><p>Vertical: 1cm + 1ppm</p>                                                                                                                                                                                                                                                                                                                                     | <p>Horizontal: 0.6cm + 0.5ppm</p><p>Vertical: 1cm + 1ppm</p>                                                                                                                                                                                                                                                                                                                                    |
| <mark style="color:$warning;">Other Positioning Modes Accuracy</mark> | <p>Standalone: 1.2m</p><p>DGNSS: 0.4m</p><p>SBAS: 0.6m</p>                                                                                                                                                                                                                                                                                                                                       | <p>Standalone: 1.2m</p><p>DGNSS: 0.4m</p>                                                                                                                                                                                                                                                                                                                                                       |
| <mark style="color:$success;">Velocity Accuracy</mark>                | 3cm/s                                                                                                                                                                                                                                                                                                                                                                                            | 3cm/s                                                                                                                                                                                                                                                                                                                                                                                           |
| <mark style="color:$success;">Heading accuracy</mark>                 | 0.15deg (1m baseline)                                                                                                                                                                                                                                                                                                                                                                            | 0.15deg (1m baseline)                                                                                                                                                                                                                                                                                                                                                                           |
| <mark style="color:$warning;">Maximum update rate</mark>              | <p>Measurements only: 100Hz</p><p>Standalone: 50Hz</p><p>RTK: 20Hz</p>                                                                                                                                                                                                                                                                                                                           | 20Hz                                                                                                                                                                                                                                                                                                                                                                                            |
| <mark style="color:$success;">latency</mark>                          | <10ms                                                                                                                                                                                                                                                                                                                                                                                            | <10ms                                                                                                                                                                                                                                                                                                                                                                                           |
| <mark style="color:$warning;">Acquisition</mark>                      | 33dBHz                                                                                                                                                                                                                                                                                                                                                                                           | 30dBHz                                                                                                                                                                                                                                                                                                                                                                                          |
| <mark style="color:$warning;">Time Precision</mark>                   | <p>PPS resolution: 1.4ns</p><p>Event accuracy: <3ns</p>                                                                                                                                                                                                                                                                                                                                          | <p>PPS resolution: 5ns</p><p>Event accuracy: <20ns</p>                                                                                                                                                                                                                                                                                                                                          |
| <mark style="color:$success;">Anti-jamming and anti-spoofing</mark>   | <p>Ÿ   AIM+ the most advanced anti-jamming, anti-spoofing on-board interference mitigation technology on the market (narrow and wide band, chirp jammers).</p><p>Ÿ   LOCK+ for robust tracking during high vibrations and</p><p>Ÿ   APME+ multipath mitigation to disentangle direct signal and those reflected from nearby</p><p>Ÿ   IONO+ provides advanced protection against ionospheric</p> | <p>   AIM+ the most advanced anti-jamming, anti-spoofing on-board interference mitigation technology on the market (narrow and wide band, chirp jammers).</p><p>Ÿ   LOCK+ for robust tracking during high vibrations and</p><p>Ÿ   APME+ multipath mitigation to disentangle direct signal and those reflected from nearby</p><p>Ÿ   IONO+ provides advanced protection against ionospheric</p> |
| <mark style="color:$warning;">OSNMA Support</mark>                    | Yes                                                                                                                                                                                                                                                                                                                                                                                              | No                                                                                                                                                                                                                                                                                                                                                                                              |
| <mark style="color:$warning;">Base/Rover</mark>                       | Base and Rover                                                                                                                                                                                                                                                                                                                                                                                   | Rover only                                                                                                                                                                                                                                                                                                                                                                                      |
| <mark style="color:$warning;">Protocols</mark>                        | NMEA, SBF, RINEX, RTCM, CMR                                                                                                                                                                                                                                                                                                                                                                      | NMEA, SBF, RTCM input                                                                                                                                                                                                                                                                                                                                                                           |
| <mark style="color:$warning;">Web interface and Ethernet</mark>       | Yes                                                                                                                                                                                                                                                                                                                                                                                              | No                                                                                                                                                                                                                                                                                                                                                                                              |
| <mark style="color:$warning;">RAW data</mark>                         | Yes                                                                                                                                                                                                                                                                                                                                                                                              | No                                                                                                                                                                                                                                                                                                                                                                                              |

# Supported Firmware

# Supported Firmware

## PX4

* Supported in Stable 1.14.0 and later

## Ardupilot

* Supported in Ardupilot
* **Note:** Dual-antenna heading is only supported in Ardupilot 4.5.0 and later.

# Download

# Download

### RXTools

{% content-ref url="/pages/UBslkQEAkWAHjY76XmWs" %}
[Download](/gps-and-rtk-system/h-rtk-mosaic-h/download.md)
{% endcontent-ref %}

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