Electrical Characteristics
| parameter | symbol | Minimum | conventional | maximum | unit |
|
Supply voltage range
|
VCC
|
4.5 | 5.0 | 12.0 | V |
|
Average current
|
Capture current
|
160 @5.0V | 185 @5.0V | 240 @5.0V | mA |
|
Tracking current
|
160 @5.0V | 185 @5.0V | 214 @5.0V | mA | |
|
Antenna supply current 1
|
RF_VCC | - | - | 70mA @5.0V | mA |
|
VCC port maximum ripple
|
Vrpp | 0 | 50 | 50 | mV |
| Vin | -0.5 | Vcc+0.2 | - | mV | |
|
Static Electricity Protection
|
VESD(HBM) | - | 2000 | 2000 | V |
|
Storage temperature
|
Tstg | -55 | - | 85 | ℃ |
|
Operating temperature
|
Tstg | -40 | - | 85 | ℃ |
*Passive Antenna Testing
1Maximum current supported by a single antenna
Mechanical Dimensions
Interface configuration selection
The OneRTK Ultra module includes 1 CAN port and 1 UART interface for communication with the host. Different interfaces can be selected through the connection of different hardware interfaces. 1 PPS output time pulse and 1 EVENT external event trigger.
Basic operating instructions
Download and install RxTools software
The latest version is 22.0.0. The RxTools software installation program and user manual can be downloaded from the following links:
- Septentrio Official website download:https://www.septentrio.com/en/support/software/rxtools
- Domestic network disk Baidu cloud download v22.0.0：https://pan.baidu.com/s/13BPfxRtgQxreB_XPl-wxPA Extraction code：smnf
- Domestic network disk Weiyun download v22.0.0：https://share.weiyun.com/xpz5qgqE
- RxTools User Manual file:///E:/Program%20Files%20(x86)/Septentrio/doc/index.html?section=ch:rxcontrol
Install directly after downloading to avoid Chinese characters in the installation directory. After the software is successfully installed, there will be the following assembly:
Hardware Hookup
- Use the MMCX connector to convert to a TNC or SMA interface and connect the satellite antenna
- Use a USB cable to connect the device to the computer
The board will virtually connect to 2 serial ports on the computer. The serial port numbers can be viewed through the device manager interface:
At the same time, the USB cable connection will also create a virtual network port with a fixed IP address of 192.168.3.1
Note:①OneRTK Ultra single antenna can be powered by USB connection at the same time, without the need for an external power supply.
②The connection of OneRTK Ultra dual antenna is shown in the figure below.
RxControl Software Connection Board
- Start the RxControl software, and the Connection Setup dialog box will pop up. Select Serial Connection/Create New… For the first connection, you need to create a new one; for the next connection, select the created serial port connection.
- After the connection is successful, you can see the RxControl interface as follows:
Check firmware and upgrade
Confirm the board version
- Check the firmware version through RxControl software Help/Receiver Identification
-
The latest mosaic firmware version is 4.12.1 (April 2022), and you can also download the latest firmware through the following link:https://www.gnss-imu.com/down/html/48.html
Firmware Upgrade
If the firmware is not the latest version as found in the previous step, upgrade the firmware by following the steps below, taking version 4.7.1 as an example:
-
RxControl Software File/Upgrade Receiver using Current Connection…
-
Select the latest firmware file. There are 2 firmware files. First upgrade the failsafe.suf firmware file, then upgrade the 4.7.1.suf firmware file.
-
- Upgrade Successfully
- Reconnect RxControl and confirm that the firmware version information has been updated through Help/Receiver Identification
Check the board status
The antenna gain for normal operation of the board is between 15-50dB. A gain that is too high indicates a poor antenna connection or excessive cable loss. The antenna gain value can be determined through RxControl->View->AGC Table.
Check satellite reception and signal-to-noise ratio
The satellite search status can be found in the Satellite Status section of the RxControl main interface, and the signal-to-noise ratio can be viewed through View -> Carrier to Noise Plot.
View differential data
Enter the following interface through the RxControl software View/DiffCorr Info View, where you can see the differential source signal system, baseline length, and RTCMv2 or RTCMv3 data. (For steps to set the rover to receive differential, see 4.3 Rover Mode)
Check the board positioning and orientation status
RxControl Command Line Window
Enter commands in the Tools/Expert Console/GRB0051 window through the RxControl software. The window will automatically prompt command prompt information when entering. You can also enter help to return all supported commands.
Web interface
Connect via USB, and a virtual network port will be created on the computer. The IP address is fixed at 192.168.3.1. Open it with a browser, and the interface is as follows:
The receiver settings can be made through Admin/Expert Control/Control Panel. Please refer to Chapter 3 below for the setting method.
Set up tracking and solving satellites and frequencies
Tracking Satellites
Set the tracking satellite, RxControl software Navigation/Advanced User Setting/Tracking/Satellites Tracking, check all GPS+Glonass+Galileo+Beidou
Command line:sst,GPS+Glonass+Galileo+Beidou
Tracking frequency
Set the tracking frequency, RxControl software Navigation/Advanced User Setting/Tracking/Signal Tracking, check all GPS+Glonass+Galileo+Beidou all frequencies
Command line:snt,GPS+Glonass+Galileo+Beidou
PVT Solution Satellite
Set the satellite for solution, RxControl software Navigation/Advanced User Setting/PVT/Satellites Usage, check all GPS+Glonass+Galileo+Beidou
Command line:ssu,GPS+Glonass+Galileo+Beidou
PVT solution frequency
Set the frequency point for solution, RxControl software Navigation/Advanced User Setting/PVT/Signal Usage, check all GPS+Glonass+Galileo+Beidou all frequency points
Command line:snu,all,all
Performance optimization settings
Anti-interference
To enable the anti-interference function, follow the steps below: RxControl/Navigation/Advanced User Setting/Frontend and Interference
Mitigation:
- Wideband Interference Mitigation/Enable WBI mitigation: ON
- Notch Filters: Notch 1 – Auto; Notch 2 – Auto; Notch 3 – Auto
Command line:setWBIMitigation,on//Wideband Interference Suppression - Enable
setNotchFiltering,all,auto,,//Narrowband Interference Suppression-Enable
Multipath Mitigation
Review and set multipath mitigation options by following these steps: RxControl/Navigation/Receiver Operation/Tracking and Measurements/Multipath:
- Enable multipath mitigation on code phase: ON
-
Enable multipath mitigation on carrier phase: ON
Command line:setMultipathMitigation,on,on //Multipath Suppression-Enable
Cut-off height angle
It is recommended to set the cutoff height angle to 10°. You can view and set the cutoff height angle option by following the steps below:
RxControl/Navigation/Mask/Elevation Mask:
- Discard satellite if below: Tracking: 10 degree;
-
PVT: 10 degree;
Command line:setElevationMask,tracking,10//Set the tracking cutoff angle to 10°
setElevationMask,pvt,10//Set the PVT cut-off angle to 10°
Satellite time system
The board uses GPS time as the default satellite time system. If the GPS signal is found to be interfered with in actual application scenarios, affecting the positioning quality and causing the RTK Fixed state to fail, it is recommended to change the time system to the Beidou satellite system time. The method is as follows:
- RxControl/Navigation/Rover Operation/Timing / Timing System: Beidou
Command line:setTimingSystem,Beidou //Set the time system to Beidou satellite system time
RTK mode
Base Station Mode
- Configure the board to Static mode:RxControl/Navigation/Position Mode
Set Reference position to Auto, or specify the latitude and longitude coordinates. For example, enter the latitude and longitude coordinates in Geodetic1, and then select Geodetic1 in Reference position.
Command line:setpvtmode,static,,auto //Set as static base station to automatically obtain location
Command line:setStaticPosGeodetic,Geodetic1,11.1234,22.1234,33.123 //Set Geodetic1 longitude and latitude setpvtmode,static,,geodetic1 //Set as a base station and use the Geodetic1 location
- Setting up RTCMv3 output
Follow the steps in the screenshot above to set up the RTCMv3 data output, set the satellite frequency used by RTCMv3, and output the RTCMv3 data type.
Command line:setRTCMv3Formatting,0,GPSL1CA+GPSL1PY+GPSL2PY+GPSL2C+GPSL5+GLOL1CA+GLOL2P+G
LOL2CA+GLOL3+GALL1BC+GALE5a+GALE5b+BDSB1I+BDSB2I //Set the satellite frequency used for RTCMv3 output
setRTCMv3Output,usb2,RTCM1006+RTCM1033+RTCM1074+RTCM1084+RTCM1094+RTCM11
24+RTCM1230 //Set up RTCMv3 output through the USB2 port
- Port enables output of RTCMv3 data
Command line:setDataInOut,USB2,auto,RTCMv3 //Open USB2 port to output RTCMv3
- Save settings
Regardless of whether you are in RxControl, the command line, or the web interface, you need to save the settings after changing them so that they will take effect after a power cycle.
In RxControl software, you can save Current to Boot in the File/Copy Configuration interface to save it to the startup file.
Command line:eccf,current,boot //Save settings
Datalink Program
Function 1: Port link, data distribution
The Datalink program can establish direct data links between different connections, and can forward data from one port to other connections through Datalink. For example, if there are 6 connections under the Datalink program, connection1 can receive serial port or NTRIP differential, and then distribute it to other different connections.
Function 2: Serial Port Assistant
Use the Serial port to connect to the board. The default baud rate is 115200. Click Connect to connect, and then click Show Data to display the serial port monitoring interface.
Select Auto completion for mosaic v in the lower right corner of the serial port monitoring interface. When you enter a command line, the input box will automatically prompt the command format.
Function 3: Port output data is recorded to a file
After the serial port monitoring interface picks up the port data, return to the Datalink main interface and click Log File to save the data to a file.
Rover Mode
- First, set the board to switch to Rover mode and use the RxControl software Navigation/Positioning
Command line:setPVTMode,rover,RTK+Standalone //Setting PVT Rover Mode
Mode interface PVT mode: Rover
- RxControl software File/Copy Configuration/Current->Boot
Command line:eccf,current,boot //Save settings
- Setting up differential input in Datalink software
- Set Connection1 to connect to the USB2 port of Mosaic MiniEVK (the corresponding virtual serial port can be viewed through the computer's device manager)
- Set Connection2 to connect to the differential source via the serial port or NTRIP, and confirm that the differential data is effectively received via Show Data
- Link the differential data of Connection2 to Connection1, so that the MiniEvk board can obtain the differential data
Note: If you use Qianxun NTRIP or other CORS station differential data, you need to set the board to receive differential ports to output 1hz GGA data. For specific settings, see NMEA data port real-time output
- RTK Fixed status verification
Return to the RxControl software and you can see the positioning accuracy in the Position Information column.
In the PVT information bar on the lower right corner, you can see whether the current RTK status is RTK Fixed, as well as the satellite system solved by PVT.
The DiffCorr light in the lower left corner flashes, indicating that differential data is being received in real time.
NMEA data
Real-time output via port
- Through RxControl software, Communication/Output Settings/NMEA Output/NMEA Output
Intervals settings
d. Output Port
e. NMEA Data Type
f. Output frequency
- Save the settings,File/Copy Configuration/Current->Boot
Command line:sno,stream1,ubs2,gga,sec1 //Set USB2 port to output 1hz GGA
Command line:eccf,current,boot //Save settings
Record data to memory card
- Mosaic MiniEvk supports loading TF memory card and can record data to the memory card.
Through RxControl software, Communication/Output Settings/NMEA Output/NMEA Output Intervals settings
① Output port is DSK1
② NMEA Data Type
Command line:sno,stream1,ubs2,gga,sec1 //Set USB2 port to output 1hz GGA
③ Output frequency
- Save the settings,File/Copy Configuration/Current->Boot
Command line:eccf,current,boot //Save settings
Record data computer file
Method 1: Through Datalink
The Datalink program can be connected to the USB2 port of Mosaic MiniEVK, input commands to set the output data through the serial port monitoring interface, and check Log to file (see Datalink program for details)
Method 2: Logging via RxLogger or RxControl software
① In the RxControl software, select the Logging/RxControl Logging function or run the RxLogger program, connect the USB port of the Mosaic MiniEvk, and enter the following interface
② Under the Global menu, set Message Types To Log and check NMEA.
Note: If you check this box, you need to set it and record it. If you do not need SBF, you need to cancel it.
③ Under the File Naming menu, set the file path and file name, and optionally set the size and duration of a single file
④ Under the NMEA menu, set the output data type and interval
⑤ Click Start Logging to start recording to a computer file
SBF raw data
SBF - Septentrio Binary Format file is a Septentrio proprietary binary format file that records relatively complete information.
Port output raw data
RxControl software interface, Communication/Output Settings/SBF Output, and set
① Output Port
② Data Type For the required data type, refer to Chapter 4 SBF Reference in the Mosaic Firmware Guide.
③ Output interval
④ Save the settings,File/Copy Configuration/Current->Boot
Command line:sso,stream1,ubs2,PostProcess,msec200 //Set USB2 port to output 5hz PostProcess data
Command line:eccf,current,boot //Save settings
Record raw data to memory card
The method of recording to the memory card is basically the same as the method of serial port output. You only need to change the serial port number to DSK1.
Record data computer file
The setup steps are the same as recording NMEA data to a computer file, except that the NMEA data is changed to SBF data and the required SBF data type is checked.
Note: SBF data is recorded to the computer. If you need to change the recording interval, you need to use the RxLogger program to record. The SBF recording under RxControl cannot be set and the default is 1hz.
External events
PPS Output
In the RxControl software interface, go to Navigation/Receiver Operation/Timing to set the PPS output and save the settings.
Command line:setPPSParameters,sec1,Low2high //Set 1 PPS output (maximum 100), pulse from low to high
Command line:eccf,current,boot //Save settings
Event
- In the RxControl software interface, select Navigation/Receiver Operation/Timing to set the Event and set the SBF data record. You need to check the Event data type so that the position information at the time of external triggering is recorded.
Command line:sso,stream1,ubs2,PostProcess+Event,msec100 //Set USB2 port to output 10hz PostProcess+Event data Save settings
Command line:eccf,current,boot //Save settings
SBF data analysis
SBF Analyzer
When you install the RxTools software, SBF Analyzer will be automatically installed. The following is a brief introduction to the use of the SBF Analyzer program:
- Double-click to run the SBF Analyzer program, or right-click an SBF file and select SBF Analyzer
- Check the content to be analyzed and click Analyze.
SBF Convertor
The SBF Convertor program can convert SBF to the required common format.
- Run SBF Convertor program or right-click the SBF file and click Convert SBF
- Can convert SBF to Rinex, ASCII files, etc.
- If it is an Event application, use ExtEventPVTGeodetic1 to view the position data recorded at the time of external triggering.
Troubleshooting
Diagnostic Report
- There are several ways to obtain the diagnostic report or report content: connect the RxControl software to the board, File/Display Diagnostic Report or press the shortcut key Crtl+C, and then save the report as a pdf file.
- Through the web interface Admin/About/Diagnostic Report, then Save As as a text file
- Or through the serial port assistant, enter the following command and copy the content returned by the board to a file
g. lstInternalFile, Identification
h. lstInternalFile, Permissions
i. getReceiverCapabilities
j. getReceiverInterface
k. lstConfigFile, Boot
l. lstConfigFile, Current
m. lstInternalFile, Ipparameters
n. getSbfOutput
o. getDataInOut
p. lstInternalFile, Error
q. lstInternalFile, SetupError
r. lstInternalFile, rxMessages
s. lstDiskInfo, all
Support SBF files
If you need technical support to analyze data quality and troubleshoot board abnormalities, you need to record Support SBF data. The steps for recording SBF are as described in the introduction to SBF raw data. The Support SBF data can be set to 10hz by default, and the recording frequency of Support SBF can be adjusted according to whether the scene is static or moving. It is recommended to check Support+BBSamples to record to a memory card or computer file.
Command line:sso,stream1,dsk1,support+BBsamples,msec100 //Record support+BBsamples to memory card
troubleshooting
When satellite search is poor, you can check the antenna power and signal quality on the OverView page.
Normally, Main RF Power and Aux1 RF Power should be ≧ 9. If less than 9, please check the RF connection line and module power supply. Make sure the antenna current consumption is <150mA.
Main Antenna （Main signals） and From the antenna （Aux1 Signals） Should be ≧7
Select a specific satellite system
Users can choose a specific satellite system based on their location.Click Corrections->Corrections OutOutput
- Click the RTCM message edit icon
- Select the desired satellite system and click OK
- Mosaic GPS supports recording satellite logs with SD cards. Before using the data logging function, you need to set up the module and select which messages to log. Click logging to enter the log setting page.
- Depending on the type of information required, click New NMEA Stream or New SBF Stream (using SBF as an example), select the desired information, and click OK.
file name
- Enter a file name for the recorded file (you can also use the default name "log"), then click in the Enable Logging column to start recording.
- Once you have set up a NMEA/SBF logging stream, you can also use the LOG button to start/stop recording.
- After the setup is complete, you can see the log LED on the GPS flashing, indicating that the log is being recorded. At this time, short press the log key (within 5 seconds) to pause the recording, and short press again to resume the recording.
- Before shutting down the GPS, it is recommended to press and hold the log key (more than 5 seconds) to end log recording, and then shut down again to avoid possible log damage.
Rxcontrol software usage
- Log playback view:File>>change connection>>Select the recorded local .sbf suffix file>>Click finish to replay the previously saved GPS data.
Click finish to replay the previously saved GPS data.
Tracking Satellites
- Set up tracking satellites, RxControl software Navigation/Advanced User Setting/Tracking/Satellites Tracking, check all GPS+Glonass+Galileo+Beidou
Command line:sst,GPS+Glonass+Galileo+Beidou
Tracking frequency
- Set the tracking frequency, RxControl software Navigation/Advanced User Setting/Tracking/Signal Tracking, check all GPS+Glonass+Galileo+Beidou all frequencies
Command line:snt,GPS+Glonass+Galileo+Beidou
PVT Solution Satellite
- Set the satellite for solution, RxControl software Navigation/Advanced User Setting/PVT/Satellites Usage, check all GPS+Glonass+Galileo+Beidou
Command line:ssu,GPS+Glonass+Galileo+Beidou
PVT solution frequency
- Set the solution frequency, RxControl software Navigation/Advanced User Setting/PVT/Signal Usage, check all GPS+Glonass+Galileo+Beidou all frequencies
Command line:snu,all,all
Performance optimization settings
Anti-interference
Follow the steps below to set up the anti-interference function option:RxControl/Navigation/Advanced User Setting/Frontend and Interference Mitigation:The default is open
- Wideband Interference Mitigation/Enable WBI mitigation: ON
- Notch Filters: Notch 1 – Auto; Notch 2 – Auto; Notch 3 – Auto
Command line:setWBIMitigation,on//Wideband Interference Suppression - Enable
The sample module is shown below with anti-interference turned off.
Multipath Mitigation
To view and set multipath mitigation options, follow these steps:RxControl/Navigation/Receiver Operation/Tracking and Measurements/Multipath:The default is open
- Enable multipath mitigation on code phase: ON
- Enable multipath mitigation on carrier phase: ON
Command line: setMultipathMitigation,on,on //Multipath Suppression-Enable
Cut-off height angle
It is recommended to set the cut-off altitude angle to 10°. You can view and set the cut-off altitude angle option by following the steps below: RxControl/Navigation/receiver operation /Mask/Elevation The default is ask:Discard satellite if below: Tracking: 10 degree; PVT: 10 degree;
Command line: setElevationMask,tracking,10//Set the tracking cutoff angle to 10°
setElevationMask,pvt,10//Set the PVT cutoff angle to 10°
Satellite time system
The board uses GPS time as the default satellite time system. If the GPS signal is found to be interfered with in actual application scenarios and the positioning quality is affected, resulting in the inability to enter the RTK Fixed state, it is recommended to change the time system to the Beidou satellite system time. The method is as follows:RxControl/Navigation/receiver Operation/Timing / Timing System: Beidou
+
Command line:setTimingSystem,Beidou //Set the time system to Beidou satellite system time
Serial port output settings
Com1 interface configuration SBF output
Data 100ms, support
PVTGeod-basevectorgeod\pvtgeodetic\velcovgeodetic
Pvtextra-dop
Attitude-atteuler\attcoveuler
Status-receiverstatus
Command line:eccf,current,boot //Save settings
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