H-RTK Mosaic-H

Holybro H-RTK Mosaic-H GNSS/RTK system documentation.

Overview & Specification
Setup & Getting Started (ArduPilot)
Setup & Getting Started (PX4)
Pinout
Dimension
Advanced Application
Comparison: mosaic-H vs mosaic-G5 P3H
Supported Firmware
Download

Overview & Specification

Overview

The Holybro mosaic-H is a cutting-edge RTK GPS module that harnesses the power of Septentrio's elite mosaic-H GNSS receiver. It comes with an IST8310 magnetometer, two high-performance antennas, and an aluminum CNC enclosure. It is packed with versatile features such as effortless configuration, spectrum analysis, data logging, and post-processing for a wide range of applications.

With its dual-antenna input, mosaic-H can provide compass-less YAW information to the controller (commonly called GPS Heading or Moving Baseline Yaw). By employing GPS as the yaw source instead of a traditional compass it 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-H 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

Advanced anti-jamming, anti-spoofing solutions with AIM+ technology & OSNMA
Dual antenna support for moving baseline yaw (GPS Heading) with just one GPS module
All-in-view satellite tracking: multi-constellation, multi-frequency (Supports L1/L2/E5)
Best-in-class RTK performance

Specification


Product	Holybro H-RTK Mosaic-H
Application	Rover Moving Baseline Rover Base Station PPK
GNSS	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)
RTK performance	Horizontal accuracy 0.6 cm + 0.5 ppm Vertical accuracy 1 cm + 1 ppm
Positioning accuracy	7o7mPWjQ0fiw
GNSS attitude accuracy	5iwIl530T7M6
Time-To-First Fix	Cold start: ≤ 45s Hot start: ≤ 20s Re-acquisition: 1 s
Latency	< 10 ms
Magnetometer (Compass)	IST8310
Antennas Peak Gain (MAX)	2dBi
LNA Gain	33±2dB
Time precision	xPPS out: 5 ns Event accuracy: < 20 ns
Data and Update Rate	Measurements only 100 Hz Standalone, SBAS, DGPS + attitude 50 Hz RTK + attitude 20 Hz
Port	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
Buttons	LOG BUTTON: Mosaic-H log recording button, short press to start/end recording; long press to Mount/Unmount SD card. SAFETY SWITCH: flight control safety switch, press and hold the flight control to unlock/lock.
Baud rate: (Adjustable)	230400 5Hz default
Working voltage:	4.75V~5.25V
Power Consumption	0.6 W typ 1.1 W max
Operating Temperature	-40℃ to 85℃
Dimension	Board: 42.771.813.3mm Antenna Diameter: 40mm Antenna height: 76mm
Weight	54.5g (without antennas)
Advanced Technologies inside	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

Setup & Getting Started (ArduPilot)

Setup & Getting Started (Ardupilot)

Use as a Rover (Aircraft) Unit

Ardupilot 4.4.0 stable firmware currently also supports Mosaic GPS, but does not yet support dual-antenna Heading. Dual-antenna heading is supported in 4.5.0 and later.

FW 4.4.0-4.4.4

To set up using GPS1 input, configure these parameters:

GPS_INJECT_TO = 0 (send to first GPS)
GPS1_RATE_MS = 100
GPS1_TYPE = 10 (SBF)
SERIAL3_BAUD = 230
SERIAL3_PROTOCOL = 5 (GPS)

To setup this using GPS2 input (serial4) configure these parameters:

GPS_INJECT_TO = 1 (send to 2nd GPS)
GPS2_RATE_MS = 100
GPS2_TYPE = 10 (SBF)
SERIAL4_BAUD = 230
SERIAL4_PROTOCOL = 5 (GPS)

If you want to inject RTCM corrections to both GPS1 and GPS2, then use:

GPS_INJECT_TO= 127 (send to all)

FW 4.5.0+

In ArduPilot 4.5 (or higher), a single unit with two antennas may also be used for GPS for Yaw. If a single unit with two antennas is used, please set the following parameters:

GPSx_TYPE = 26 (SBF-DualAntenna)
GPSx_MB_TYPE = 1 (RelativeToCustomBase)
GPSx_MB_OFS_X and GPSx_MB_OFS_Y, and GPSx_MB_OFS_Z to match the offset of the main antenna from the second in meters. For example, if the second antenna is 50cm to the right of the main antenna, set GPSx_MB_OFS_Y.
EK3_SRC1_YAW = 2 (GPS)

Antennas Setup

In addition, both antennas (“Master” and “Slave”) must be attached and positioned at least 30cm apart. The location of the vehicle is flexible, but their positions impact several parameters which must be set in order to obtain proper operation. These offset distances in the x/y/z directions must be entered for the following parameters:

GPS1_MB_TYPE = 1 (GPS1 Moving Baseline master antenna offsets relative to slave antenna, also enables the next parameters to be shown)
GPS1_MB_OFS_X: offset in meters from the "Slave" to "Master" antenna in the X axis (in direction of 0 deg yaw, positive offsets are if "Master" is in front of the "Slave".
GPS1_MB_OFS_Y: offset in meters from the "Slave" to "Master" antenna in the Y axis (in direction 90 deg (right) of 0 deg yaw, positive offsets are if "Master" to the right of the "Slave".
GPS1_MB_OFS_Z:: offset in meters from the "Slave" to "Master" antenna in the Z axis (in direction up and down, positive offsets are if "Master" is below the "Slave".

This figure and photo illustrate these parameters and their settings:

A complete dual antenna configuration guide can be found in the link below:

https://ardupilot.org/copter/docs/common-gps-for-yaw.html

Use as Base Station

1) First, download the configuration file from our website to the local computer according to the base type:

mosaic-H_Current_moving_base.txt (mobile station)

mosaic-H_Current_Static_base.txt (fixed station)

2) Connect the module to the computer through the USB TYPE-C port, open any Web browser, enter 192.168.3.1 in the address bar to open the Mosaic-H configuration page, as shown below

3) Click Admin->Configurations to enter the configuration page\

4) Click the Upload Configuration icon to upload the configuration file

6) Click OK first, then click the Save button to save the configuration

Click Admin->Reset to enter the reset page, select Soft, and click OK to restart. You can also unplug the USB cable and perform a power-off restart.

7) Place the base station in an open area, and click on the GNSS->Satellites and Signals page to view the satellite search status. After the Tracking and Position values are stable (as shown below), the RTCM data can be forwarded through the ground station.

Implement RTK through MissionPlanner

Connect the Mosaic-H GPS to the computer via the USB port. After Mosaic-H is connected to the computer, there will be two Virtual USB COM Ports. Virtual USB COM Port 1 corresponds to USB1 in the operation interface, and Virtual USB COM Port 2 corresponds to USB2. Generally, we use USB1 to transmit NMEA/GGA and other data, and then on USB2 output RTCM data. With the MissionPlanner auto configuration feature, both COM ports can be used for the RTK base function.

On the missionPlanner-> SETUP-> Optional Hardware-> RTK/GPS Inject page, make sure Automatically Configure Receiver is enabled, and the Septentrio option is selected. Choose any of the mosaic-H's COM ports and click Connect.

When Mosaic-H is used as a Base station, it will automatically select the appropriate positioning accuracy based on signal quality. There is no need to set the accuracy and survey-in time.

When the Base, GPS, Glonass, Beidou, and Galileo icons in the RTCM column all turn green, the ground station begins to send the RTCM data to the flight control through digital transmission.

Click on the MissionPlanner->DATA page, and you can see that the rover side has been RTK-Fixed. (The rover side can use F9P or Mosaic-H)

Now return to the Mosaic-H configuration page, click on the NMEA/SBF Out page, and you can see that the USB2 port has started to output the RTCM data stream.

Setup & Getting Started (PX4)

Use as Rover (Aircraft) Station

You only need to set the following parameters:

GPS_1_CONFIG: GPS1 (default to GPS1)
GPS_1_GNSS: 31
GPS_1_PROTOCOL: SBF
SER_GPS1_BAUD: 115200 8N1
EKF2_GPS_CTRL: Bit 3 Dual antenna heading (if the Heading function is not required, this bit does not need to be set)
GPS_PITCH_OFFSET: set according to your setup
GPS_YAW_OFFSET: set according to your setup

To check for heading MAVlink Console :

"listener estimator_status_flags " command, Then check the content displayed by cs_gps_yaw . True means that Heading has been enabled , False means that Heading has not been enabled .

GNSS Data Filtering

Set the following parameters to decrease drifting caused by fluctuation from the GNSS reading

EKF2_GPS_P_NOISE = 1
EKF2_GPS_V_NOISE = 0.6

Use as Base Station

Pinout

UART1

Pin	Signal	Voltage
1(red)	VCC	Power +5V
2	RX(in)	TTL 3.3V
3	TX(out)	TTL 3.3V
4	SCL1	TTL 3.3V
5	SDA1	TTL 3.3V
6	SAFETY_SWITCH	TTL 3.3V
7	SAFETY_SWITCH_LED	TTL 3.3V
8	VDD_3V3	Power +3.3V
9	BUZZER-	Open drain Output 0~5V
10	GND	GND

UART2

Pin	Signal	Voltage
1(red)	VCC	Power +5V
2	RX2(in)	TTL 3.3V
3	TX2(out)	TTL 3.3V
4	EVENT A	TTL 3.3V
5	PPS	TTL 3.3V
6	GND	GND

Dimension

Advanced Application

Web Interface First Login

Newer batch mosaic-H modules require the user to create a login credential using factory credentials.

Factory credentials:
Username: RxAdmin
Password: S3pt3ntr10

Please refer to Septentrio's article below for more information:

https://customersupport.septentrio.com/s/article/Cybersecurity-guidelines-Log-in-procedure

Troubleshooting

When the satellite search is not good, you can check the power supply and the signal quality of the antenna on the OverView page.

Generally speaking, Main RF power and Aux1 RF power should be ≧ 9. If it is less than 9, check the RF connection cable and module power supply. Ensure that the antenna current consumption is <150mA.

The main antenna (Main signals) and the slave antenna (Aux1 Signals) should be ≧7.

Choosing Specific Satellite System

Users can choose specific satellite systems based on their location. Click Corrections->Corrections OutPut

Click the RTCM Messages edit icon

Select the desired satellite system and click OK.

Record satellite search data to SD card

Mosaic GPS supports SD card recording of star search logs. Before using the data logging function, you need to set up the module and select which messages need to be recorded. Click logging to enter the log settings page

Depending on the type of information required, click New NMEA stream or New SBF stream (taking SBF as an example), and click OK after selecting

File Name Enter the file name of the recording file (you can also use the default name " log " ), and then click on in the Enable Logging column to start logging.

After the NMEA/SBF logging Stream is set up, you can also use the LOG BUTTON to start/end recording.

After setting up, you can see the log LED on the GPS flashing, indicating that the log is being recorded. At this time, short press the log button (within 5 seconds) to pause logging, and short press again to resume logging.

Before the GPS is powered off, it is recommended to press and hold the log button (more than 5 seconds) to end the log recording, and then power off again. Avoid possible log corruption.

PPK application

Mosaic-H supports PPK applications, please refer to the documentation for details: PP-SDK: high accuracy with GPS post-processing | Septentrio

Configuring modules via RxTools

mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages. The included GNSS receiver control and analysis software RxTools allows receiver configuration, monitoring as well as data logging and analysis. For detailed usage steps, please refer to the document.

Please see this link for the latest software or download the RX Tools v23.0.1 below

Comparison: mosaic-H vs mosaic-G5 P3H

Comparison Between mosaic-H & mosaic-G5 P3H 1

	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

PX4

Supported in Stable 1.14.0 and later

Ardupilot

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

Mission Planner

Supported as Rover (Aircraft) unit & Base station

QGC

Support when using as Rover (Aircraft) unit
QGC currently does not support mosiac-H to be used as base station because it cannot recognize the RTCM data stream of Mosaic-H GPS at this moment. Support is coming soon.

Download

3D CAD File

RXTools

GNSS receiver control and analysis software. To download the latest version. Please go to this septentrio official download page.