Navisys GE-920 Dual-Antenna RTK¶
The Navisys GE-920 is a dual-antenna GNSS module based on the u-blox ZED-F9 RTK engine. It operates simultaneously as an RTK moving base and RTK rover to provide centimeter-level positioning and precise heading without relying on vehicle movement.
Key Features¶
Dual Antenna & Heading: Integrated u-blox ZED-F9 RTK engine supporting dual I-PEX antenna connectors (Rover & Moving Base) for accurate orientation.
Multi-Constellation Dual-Band: Concurrent L1/L2 reception for GPS, GLONASS, Galileo, BeiDou, QZSS, and SBAS.
Centimeter-Level Accuracy: RTK positioning (0.01 m CEP + 1 ppm) and heading accuracy (<0.4°).
Communication Interface: Dual UART/TTL interfaces (Rover UART and Moving Base UART) at 460800 bps.
Compact Form Factor: 27 x 24 x 6 mm SMD module.
Pinout & Connection Guide¶
Pin |
Name |
Function |
Type |
|---|---|---|---|
1 |
+3.3V |
3.3V Power Supply (3.3V ± 0.3V) |
Input |
2 |
RX_Rover |
UART Receive for Rover |
Input |
3 |
TX_Rover |
UART Transmit for Rover (Outputs RELPOSNED by default) |
Output |
4 |
RX_MB |
UART Receive for Moving Base |
Input |
5 |
TX_MB |
UART Transmit for Moving Base |
Output |
6 |
RTK_BCKP |
Backup Power (V_BAT: 3V) |
Input |
7 |
RTK_1PPS |
Time Pulse Signal (1PPS) |
Output |
8 |
GND |
Ground |
Input |
Note
Antenna connections: ANTm is for Moving Base and ANTr is for Rover. Heading is defined as the direction vector from ANTm to ANTr.
ArduPilot Configuration¶
The GE-920 is used in ArduPilot as a Moving Baseline GPS (see GPS for Yaw (aka Moving Baseline)). Connect the Moving Base UART (pins 4/5) to the autopilot’s SERIAL3 port and the Rover UART (pins 2/3) to SERIAL4. Any free serial ports can be used, as long as the parameters below are changed to match. Then set the following parameters:
GPS Driver Settings¶
SERIAL3_PROTOCOL = 5 (GPS), Moving Base UART
SERIAL4_PROTOCOL = 5 (GPS), Rover UART
GPS1_TYPE = 17 (Moving Baseline Base)
GPS2_TYPE = 18 (Moving Baseline Rover)
GPS_AUTO_CONFIG = 1
GPS_AUTO_SWITCH = 1 (do not use 2 (Blend) with Moving Baseline)
Dual Antenna Yaw Settings¶
AHRS_EKF_TYPE = 3 (EKF3)
EK3_SRC1_YAW = 2 (GPS) or 3 (GPS with Compass Fallback)
GPS1_POS_X, GPS1_POS_Y, GPS1_POS_Z: offset of ANTm (Moving Base) from the vehicle’s CG.
GPS2_POS_X, GPS2_POS_Y, GPS2_POS_Z: offset of ANTr (Rover) from the vehicle’s CG.
See Sensor Position Offset Compensation for how to measure these offsets. If the reported heading is reversed, the position offsets are probably set incorrectly.
Where to Buy¶
For more details, visit the Navisys Official Website.