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	Mode Horizontal Vertical Standalone 1.2m 1.9m SBAS 0.6m 0.8m 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: ≤ 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 & Buzzer	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. Integrated buzzer inside
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: 42.7*71.8*13.3mm 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 OSNMA Supported
Firmware Compatibility	Ardupilot* PX4* *See this link for the latest information

Setup Guide & Reference Links:

• Pinout 
• Dimension
• Setup & Getting Started (Ardupilot)
• Setup & Getting Started (PX4)
• Advanced Applications
• GPS LED Meaning
• Septentrio mosiac-H GNSS receivier datasheet
• Septentrio Download Page
• Septentrio PPK Application
• Septentrio RXTools (GNSS receiver control and analysis software)

• 1x H-RTK Mosaic
• 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

30° Antenna Mount	Antenna Extension Cable	GPS Extension Cable