Tutorial for using Mosaic-H Ⅰ

Tutorial for setting up Ardupilot

The module is connected to the GPS2 interface of the flight controller, with a diagram shown below:

 

The flight controller uses ArduPilot firmware version 4.5.0 or higher, and employs two antennas to achieve GPS orientation functionality. Please set the following parameters:

• GPS_TYPE = 26
• GPS_MB1_TYPE = 1
• Set GPS_MB1_OFS_X, GPS_MB1_OFS_Y, and GPS_MB1_OFS_Z to match the offset between the primary and secondary antennas (in meters). For example, if the antennas are installed on the left and right sides of the vehicle with a 50cm spacing, and the primary antenna is fixed on the right side of the vehicle, set GPS_MB1_OFS_Y=0.5.
• Set GPS_POS1_X and GPS_POS1_Y to the offset of the primary antenna from the center of gravity. For the installation method mentioned above, set GPS_POS1_Y to 0.25.
• GPS_AUTO_CONFIG = 0 (disable automatic configuration)
• EK3_SRC1_YAW = 2 (use only GPS yaw data as the heading data source)
• SERIAL3_PROTOCOL = -1 (disable the GPS1 interface, so that the GPS2 interface will be defined as the first GPS)
• SERIAL4_PROTOCOL = 5 (default is 5, check and no need to modify)
• SERIAL4_BAUD = 115 (i.e., set the baud rate to 115200)

 

Tutorial for PX4 Setup

• GPS_1_CONFIG=GPS2 (set to GPS2)
• GPS_1_GNSS=31
• GPS_1_PROTOCOL=SBF
• SER_GPS2_BAUD=115200 8N1
• EKF2_GPS_CTRL: Set to 15, and enable Dual antenna heading
• GPS_YAW_OFFSET: If the primary antenna is at the front, set the yaw offset to 0. The angle increases clockwise, so if the primary (main) antenna is on the right side of the vehicle and the secondary (slave) antenna is on the left, set the offset to 90 degrees.

     

Check if GPS yaw data is active

Enter the MAVlink console and use the command "listener estimator_status_flags". Then check the content displayed for cs_gps_yaw. True indicates that Heading is enabled, and False indicates that Heading is not yet enabled.

 

For use as a base station

• First, download the configuration file from our website to your local computer based on the base type: mosaic-H_Current_moving_base.txt (for a moving base station).
• Connect the module to your computer via the USB-TYPEC port, open any web browser, and enter 192.168.3.1 in the address bar to open the Mosaic-H configuration page, as shown below:

• Click "Admin" -> "Configurations" to enter the configuration page

• Click the "Upload Configuration" icon to upload the configuration file

• Click "OK" and 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

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

 

Implementing RTK through MissionPlanner

Connect the Mosaic-H GPS to the computer via the USB port. After connecting Mosaic-H 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. Typically, we use USB1 to transmit data such as NMEA/GGA, and output RTCM data on USB2.

• First, enter the computer's device manager to view the COM port corresponding to USB2

• On the MissionPlanner -> SETUP -> Optional Hardware -> RTK/GPS Inject page, connect and select the COM port corresponding to the Mosaic-H virtual USB COM Port2, then click connect. (Please note that automatic configuration for UBlox M8P/F9P cannot be selected.)

• When Mosaic-H is used as a base station, it automatically selects the appropriate positioning accuracy based on signal quality. There is no need to set the accuracy and measurement time.
• When the Base, Gps, Glonass, Beidou, and Galileo icons in the RTCM column all turn green, the ground station starts sending RTCM data to the flight controller via 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 as the rover station.)

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

 

Setup and Getting Started (PX4)

For use as a rover (aircraft) station, you only need to set the following parameters:

• GPS_1_CONFIG: GPS1 (default is GPS1)
• GPS_1_GNSS: 31
• GPS_1_PROTOCOL: SBF
• SER_GPS1_BAUD: 115200 8N1
• EKF2_GPS_CTRL: Bit 3 for dual-antenna heading (if heading function is not needed, this bit does not need to be set)
• GPS_PITCH_OFFSET: Set according to your configuration
• GPS_YAW_OFFSET: Set according to your configuration

 

Check the Heading in MAVlink Console

Use the "listener estimator_status_flags" command, and then check the content displayed for cs_gps_yaw. True indicates that Heading is enabled, and False indicates that Heading is not yet enabled.

Troubleshooting

When satellite search is poor, you can check the antenna's power and signal quality on the OverView page.

Typically, the Main RF power and Aux1 RF power should be ≥ 9. If they are less than 9, please check the RF connecting cables and module power supply. Ensure that the antenna current consumption is < 150mA.

The main antenna (Main signals) and auxiliary antenna (Aux1 Signals) should be ≥ 7.

 

Select Specific Satellite Systems

Users can select specific satellite systems based on their location. Click on Corrections -> Corrections Output.

• Click the RTCM message edit icon.

• Select the desired satellite systems and then click OK.

• The Mosaic GPS supports recording satellite search logs on an SD card. Before using the data logging function, you need to configure the module and select which messages you want to log. Click on "logging" to enter the log settings page.

 

• Depending on the type of information needed, click on "New NMEA Stream" or "New SBF Stream" (using SBF as an example), and then click "OK" after making your selection.

 

File Name

• Enter a file name for the recording (you can also use the default name "log"), and then click "Start Logging" in the "Enable Logging" column.
• After setting up the NMEA/SBF logging stream, you can also use the LOG button to start/stop recording.
• Once the setup is complete, you can see the logging LED on the GPS blinking, indicating that logging is in progress. At this point, a short press of the logging button (within 5 seconds) can pause the recording, and another short press can resume it.
• Before shutting down the GPS, it is recommended to end the logging session by holding down the logging button (for more than 5 seconds) and then shut down the device. This will prevent potential log corruption.

 

Indicator light status

Fix (3D Fix)

Off - No 3D Fixed

Blink/Solid On - 3D fixed

RTK (RTK Fix)

Off -  Not in RTK mode

Blink - Float RTK (Blinking is not available in some model)

Solid - Fixed RTK

GEO - Used for geofence settings (set through ucenter). This is an user-defined on and off status light, it can be either on or off when the fence conditions are met.

PWR - Always on when the power is normal.

ERR (ERROR) - Lights up when module self-test fails

EVT (EVENT) - LED is off when no eventin. Short blinks indicate there is an event in

LOG Button LED - LED is ON when the SD card is present or mounted.

 

Usage of Rxcontrol software:

• Log playback view: File >> change connection >> select the locally recorded .sbf file >> click finish, and you can play back the previously saved GPS data.

 

Setting Up Tracking and Solving for Satellites and Frequencies

Tracking Satellites

• To set up satellite tracking, in the RxControl software, go to Navigation/Advanced User Setting/Tracking/Satellites Tracking, and select all options: GPS + Glonass + Galileo + Beidou.

Command line: sst, GPS+Glonass+Galileo+Beidou

 

Tracking Frequencies

• To set up tracking frequencies, in the RxControl software, go to Navigation/Advanced User Setting/Tracking/Signal Tracking, and select all frequency bands for GPS+Glonass+Galileo+Beidou.

Command line: snt,GPS+Glonass+Galileo+Beidou

 

PVT Solution Satellites

• To set the satellites for PVT solution, in the RxControl software, go to Navigation/Advanced User Setting/PVT/Satellites Usage, and select all: GPS+Glonass+Galileo+Beidou.

Command line: ssu, GPS+Glonass+Galileo+Beidou

 

 PVT Solution Frequencies

• To set the frequencies for PVT solution, in the RxControl software, go to Navigation/Advanced User Setting/PVT/Signal Usage, and select all frequency bands for GPS+Glonass+Galileo+Beidou.

Command line: snu,all,all

 

Performance Optimization Settings:

Anti-Interference

To enable the anti-interference function options, follow these steps: RxControl/Navigation/Advanced User Setting/Frontend and Interference Mitigation: It is enabled by default.

• Wideband Interference Mitigation/Enable WBI mitigation: ON
• Notch Filters: Notch 1 – Auto; Notch 2 – Auto; Notch 3 – Auto

Command line: setWBIMitigation,on // Wideband Interference Mitigation - Enable

 

The reference module shown below has anti-interference disabled

 

Multipath Mitigation

View and set the multipath mitigation options through the following steps: RxControl/Navigation/Receiver Operation/Tracking and Measurements/Multipath: It is enabled by default.

• Enable multipath mitigation on code phase: ON
• Enable multipath mitigation on carrier phase: ON

Command line: setMultipathMitigation,on,on // Multipath Mitigation - Enable