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Holybro H-RTK mosaic-H (Dual Antenna Heading)


Available on backorder


Available on backorder


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 autopilot (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 autopilot 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.


  • 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


Product Holybro H-RTK Mosaic-H
  • Rover
  • Moving Baseline Rover
  • Base Station
  • PPK
  • GPS: L1, L2
  • Galileo: E1, E5b
  • GLONASS: L1, L2
  • Beidou: B1, B2, B3
  • QZSS: L1C/A, L1C/B, L2
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
  •  < 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 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℃
  • 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:

Package Included:

  • 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
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