Description
The HB51 (GR-P3HV1) is a dual-antenna full-band RTK GNSS positioning and heading board powered by the Septentrio mosaic-G5 P3H module. It integrates a PNI RM3100 high-precision geomagnetic sensor for GNSS-independent compass heading, and delivers centimetre-level positioning with sub-7-second RTK initialization and >99.9% reliability — validated to MIL-STD-810H vibration and shock standards. Designed for UAVs, construction, marine, and industrial robotics applications.
Key Features
- Septentrio mosaic-G5 P3H — 789 hardware channels, full multi-constellation multi-frequency
- 0.6 cm + 0.5 ppm RTK horizontal accuracy; 99.9% reliability
- Dual-antenna heading: 0.15° @ 1 m baseline
- Integrated PNI RM3100 geomagnetic sensor — GNSS-independent heading backup
- AIM+ active interference & spoofing mitigation · APME+ multipath suppression
- LOCK+ vibration-resistant tracking · IONO+ ionospheric protection · RAIM+ integrity monitoring
- MIL-STD-810H 514.8 Cat. 4 vibration & MIL-STD-810H 516.8 shock qualified
- Dual UART (GH1.25-6P) + I2C + PPS + dual MMCX antenna ports
Key Specifications
| Item | Value |
|---|
| GNSS Engine | Septentrio mosaic-G5 P3H |
| Tracking Channels | 789 hardware channels |
| RTK Accuracy (H) | 0.6 cm + 0.5 ppm (RMS) |
| RTK Accuracy (V) | 1.0 cm + 1 ppm (RMS) |
| Heading Accuracy | 0.15° @ 1 m baseline |
| Init Time / Reliability | 99.9% |
| Board Dimensions | 65.5 × 58.4 × 13.7 mm |
| Power | 5 V – 12 V DC |
GNSS Performance
| Signal System | Frequencies |
|---|
| GPS | L1C/A · L1C · L2C · L2P(Y) · L5 |
| BeiDou | B1I · B1C · B2a · B2I · B2b · B3I |
| GLONASS | L1CA · L2CA · L2P · L3 CDMA |
| Galileo | E1 · E5a · E5b · E6 · OSNMA · HAS |
| QZSS | L1C/A · L1C/B · L2C · L5 · L6 |
| SBAS | L1C/A |
| Parameter | Value |
|---|
| Tracking Channels | 789 |
| Cold Start TTFF | < 35 s |
| RTK Init Time | < 7 s typical |
| Init Reliability | > 99.9% |
| RTK Accuracy (H) | 0.6 cm + 0.5 ppm |
| RTK Accuracy (V) | 1.0 cm + 1 ppm |
| Standalone (H / V) | 1.2 m / 1.9 m |
| DGPS (H / V) | 0.4 m / 0.7 m |
| Heading Accuracy | 0.15° @ 1 m |
| Velocity Accuracy | 3 cm/s (RMS) |
| PPS Timing Accuracy | 1.4 ns (RMS) |
| Update Rate | 20 Hz |
Interface & Connectivity
| Parameter | Description |
|---|
| Port 1 — UART1 | GH1.25-6P: VCC · RXD2 · TXD2 · PPS · EVENT · GND |
| Port 2 — UART2 | GH1.25-6P: VCC · RXD1 · TXD1 · I2C_SCL · I2C_SDA · GND |
| Antenna Ports | ANT1 MMCX (Main/Position) · ANT2 MMCX (Auxiliary/Heading) |
| Protocols (Output) | Septentrio SBF · NMEA 0183 (v2.3 / v3.03 / v4.0) · RTCM v3.x |
| Correction Input | RTCM v3.x (MSM) |
Electrical & Operating Conditions
| Item | Value |
|---|
| Supply Voltage | 5 V – 12 V DC |
| Operating Current | 300 – 1,000 mA @ 12 V |
| Max VCC Ripple | 500 mV |
| ESD Withstand | ±2,000 V |
| Operating Temperature | −40°C to +95°C |
| Storage Temperature | −55°C to +95°C |
| Humidity | 95% RH, non-condensing |
| Vibration | MIL-STD-810H 514.8 Cat. 4 |
| Shock | GJB150.18-2009 / MIL-STD-810H 516.8 Proc. I |
Physical
| Item | Value |
|---|
| Board Dimensions | 65.5 × 58.4 × 13.7 mm |
| Module Dimensions | 48 × 35 × 12.6 mm |
| Weight | 86 g |
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