Holybro 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 / GPS: L1C/A,L1C, L2C, L2P(Y), L5
Galileo: E1, E5b / Galileo: E1, E5a, E5b, E6
GLONASS: L1, L2 / GLONASS: L1CA, L2CA, L2P, L3CDMA
Beidou: B1, B2, B3 / Beidou: B1I, B1C, B2a, B2I, B2b, B3I
QZSS: L1C/A, L1C/B, L2 / QZSS: L1C/A, L1C/B, L2C, L5, L6 (future update)
SBAS: Egnos, WAAS, GAGAN, MSAS, SDCM (L1)

RTK Performance:
Horizontal: 0.6cm + 0.5ppm
Vertical: 1cm + 1ppm

Other Positioning Modes Accuracy
Standalone: 1.2m / Standalone: 1.2m
DGNSS: 0.4m / DGNSS: 0.4m
SBAS: 0.6m

Velocity Accuracy: 3cm/s

Heading accuracy: 0.15deg (1m baseline)

Maximum update rate:
Measurements only: 100Hz
Standalone: 50Hz / 20Hz
RTK: 20Hz

Latency: <10ms

Acquisition: 33dBHz 30dBHz

Time Precision:
PPS resolution: 5ns / PPS resolution: 1.4ns
Event accuracy: <20ns / 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


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