Table of Contents
Chapter 1: Product Overview
1.1 Product Features
Full-System, Full-Frequency RTK Positioning
SIYI’s RTK positioning and orientation module supports full-system, full-frequency high-precision positioning, including BeiDou, GPS, GLONASS, Galileo, and QZSS. This significantly enhances positioning accuracy and reliability.
RM3100 Industrial-Grade Magnetometer
Equipped with the RM3100 magnetometer, SIYI’s RTK positioning and orientation module greatly improves magnetic field measurement resolution, reduces noise levels, and expands measurement range, providing the positioning system with excellent anti-interference capability.
Single Module with Dual-Antenna Orientation
The system enables orientation determination using just one module connected to two antennas, replacing the traditional magnetometer and ensuring stable operation in complex electromagnetic environments.
Compact and Lightweight Design
Engineered specifically for the intelligent robotics ecosystem, the module embodies minimalist design, achieving millimeter-level precision and ultralight weight.
1.2 Interfaces and Definitions
1.3 Technical Specifications
| Hardware Specifications | |
| GNSS Receiver | Unicore UM982 |
| Electronic Compass | PNI RM3100 |
| Satellite Navigation System | GPS GLONASS BeiDou Galileo QZSS |
| Satellite Frequency Band | Antenna 1： BDS:B1I、B2I、B3I GPS:L1C/A、L2P（Y）/L2C、L5 GLONOSS:L1、L2 Galileo: E1、E5a、E5b QZSS:L1、L2、L5 Antenna 2： BDS:B1I、B2I、B3I GPS:L1C/A、L2C GLONOSS:L1、L2 Galileo: E1、E5b QZSS:L1、L2 |
| Overall Performance | |
| Positioning Accuracy | Single Point Positioning： Horizontal 1.5M/ Elevation 2.5m GPS (Differential GPS)： Horizontal： 0.4M+1PPM/ Elevation：0.8m+1PPM RTK: Horizontal 0.8cm+1PPM Elevation：1.5cm+1PPM |
| Directional Accuracy (Dual-Module Measurement) | Baseline: 1m, Directional Accuracy: 0.2 degrees |
| Maximum Number of Satellites | Single : 28 + RTK:50 + |
| Differential Data Format | RTCM3.X |
| Time to First Fix (TTFF) | Cold Start: <30s, Hot Start |
| Antenna Gain | Mobile End: 2 dBi Base Station End: 5.5 dBi |
| Data Refresh Rate | 5Hz (default); Maximum 20Hz |
| Interface Type | 2 x UART 1 x USB (Type-C) |
| Antenna Interface Type | MMCX |
| Operating Voltage | 4.5 ~ 5.5 V |
| Power Consumption | 1W |
| Operating Temperature | (–30 ~ 75 °C) |
| Product Dimensions | 40mmx30.5mmx15mm |
| Product Weight | 22.8g（excluding antenna) |
1.4 Item List
1 x SIYI RTK Positioning and Orientation Module
2 x Quadruple Helix Antennas
2 x Quadruple Helix Antenna Feedlines (SMA female to MMCX right-angle male, feedline length: 550mm)
1 x Type-C to USB Data Cable
1 x UART1 to GPS Module Connection Cable (for connecting the UART1 interface of the RTK mobile module to the flight controller GPS module)
1 x UART1 to TELEM4 Connection Cable (for connecting the UART1 interface of the RTK mobile module to the flight controller TELEM4 interface)
1.5 Status Indicator Definitions
Power Indicator Light
Red Light On: Module is powered normally
Red Light Off: Module has no power
RTK Status Indicator Light
Blue Light On: Entered RTK status
Blue Light Off: Not in RTK status
PVT Status Indicator Light
Green Light On: Positioning successful
Green Light Off: Not positioned
ERR Status Indicator Light
Red Light On: Module error
Red Light Off: Module is normal
Note
The RTK status indicator light is only active on the mobile end when the system enters RTK status. The RTK status indicator light on the base station end will not light up.
Chapter 2: Before Use
2.1 Installation and Fixing
2.1.1 F9P RTK Base Station
Refer to the image above to securely mount the RTK base station and the mushroom antenna on a tripod, ensuring that the antenna feed line is properly connected.
Note
The tripod should be provided by the user.
Please ensure that there are no obstacles or sources of interference around the RTK antenna to avoid affecting the convergence time and positioning accuracy.
2.1.2 Mobile End (SIYI RTK Positioning and Orientation Module)
Refer to the image above to securely mount the RTK mobile end on the aircraft body, ensuring it does not wobble. The arrow on the RTK module should align with the installation direction of the flight controller (the aircraft’s nose direction).
Note
The SIYI RTK Positioning and Orientation Module is equipped with a built-in RM3100 compass. To ensure stable operation of the device, the module should be installed away from sources of magnetic interference.
Installation of Mobile End Antenna Bracket
If the frame design does not allow for the RTK mobile end antenna to be installed in the specified position, refer to the image below. Use a mounting bracket to securely fix the four-arm spiral antenna to the aircraft body, ensuring it does not wobble. The arrow on the RTK module should align with the installation direction of the flight controller (the aircraft’s nose direction).
Note
Please avoid obstructing the RTK antenna, as this may affect positioning performance.
Chapter 3: Dual-Antenna Orientation (Compass Replacement)
When dual RTK antennas are installed, they can replace the device’s compass and enable dual-antenna orientation functionality.
Instructions for Use
Refer to the diagram above to connect the RTK mobile module to the flight controller, while the flight controller is connected to the airborne data link.
ArduPilot firmware version 4.4.0 or above is required.
The relevant parameter configuration for the flight controller and the RTK mobile module is as follows:
Using Serial Port 3 as an example:
Set SERIAL3_PROTOCOL = 5 (GPS)
Set GPS1_TYPE = 25 (Unicore Moving Baseline)
If only using the main antenna for positioning and not utilizing the orientation function, set GPS1_TYPE = 24 (Unicore Master)
Set the position of the main and secondary antennas for the SIYI RTK Positioning and Orientation Module:
GPS_MB1_TYPE = 1 (The offset of the mobile baseline main antenna relative to the secondary antenna. After modification, restart to display the next parameter.)
GPS_MB1_OFS_X: The X-axis offset of the main antenna relative to the secondary antenna (distance in meters). If the main antenna is in front of the secondary antenna, the value is positive; otherwise, it is negative.
GPS_MB1_OFS_Y: The Y-axis offset of the main antenna relative to the secondary antenna (distance in meters). If the main antenna is to the right of the secondary antenna, the value is positive; otherwise, it is negative.
GPS_MB1_OFS_Z: The Z-axis offset of the main antenna relative to the secondary antenna (distance in meters). If the main antenna is lower than the secondary antenna, the value is positive; otherwise, it is negative.
Main Antenna Positioning Offsets
GPS_POS1_X: The X-axis offset of the main antenna relative to the flight controller (distance in meters). If the main antenna is in front of the flight controller, the value is positive; otherwise, it is negative.
GPS_POS1_Y: The Y-axis offset of the main antenna relative to the flight controller (distance in meters). If the main antenna is to the right of the flight controller, the value is positive; otherwise, it is negative.
GPS_POS1_Z: The Z-axis offset of the main antenna relative to the flight controller (distance in meters). If the main antenna is lower than the flight controller’s position, the value is positive; otherwise, it is negative.
Note
The horizontal distance between the main and secondary antennas must be at least 30 centimeters; otherwise, it will affect the orientation accuracy.
Verifying Dual-Antenna Orientation
Open the ground station and check whether the GPS_YAW heading matches the actual heading. If the headings are consistent, it indicates that the dual-antenna orientation configuration is successful. If they do not match, there may be an error in the settings for GPS_POS1 or GPS_MB1_OFS.
The message in the ground station’s status bar, “EKF3 IMUx yaw aligned,” indicates that the dual-antenna orientation is effective.
Chapter 4: Centimeter-Level Positioning with RTK
The RTK base station and mobile module can be used in combination to establish a connection through the flight controller and data link, enabling centimeter-level positioning.
4.1 Base Station Connection Instructions
Refer to the above diagram to set up the F9P RTK base station. The base station communicates with the PC ground station and transmits the real-time position of the RTK base station to the flight controller via the data link.
Ground Station Parameter Settings:
Run the Mission Planner ground station software and navigate to “Initial Setup > Optional Hardware > RTK.”
Refer to the image below for parameter configuration:
It is recommended to check the option for automatic configuration of the F9P, set the observation accuracy to 2.5, and the minimum observation time to 60s.
After completing the settings, click Restart to begin the observation.
Warning
Once the base station positioning is successful, do not move the base station under any circumstances!
When the base station is operating normally and convergence is complete, the ground station interface will display as shown in the diagram below.
The GPS status will display rtk fixed, indicating that the system has successfully entered RTK positioning mode.
Chapter 5: Using Network RTK with SIYI Handheld Ground Station
The SIYI handheld ground station, in conjunction with the RTK mobile module and network RTK base station, can achieve network RTK functionality.
Use the SIYI handheld ground station to run the Mission Planner ground station software, connecting the SIYI handheld ground station to the mobile internet. Go to “Initial Setup > RTK > NTRIP.”
The protocol address format is as follows (using Qianxun RTK as an example):
http://USER:PASSWORD@rtk.ntrip.qxwz.com:8002/RTCM32_GGB
In this format, USER is the username for the FindCM service account applied for by the user, PASSWORD is the corresponding password, rtk.ntrip.qxwz.com is the FindCM service address for the Qianxun positioning server, 8002 is the port broadcasting WGS84 coordinate system data, and RTCM32_GGB is the data source for broadcasting RTCM 3.2 format data.
Note
For more detailed information, you can consult the Qianxun Network RTK official documentation:
https://www.qxwz.com/help-document-location-service.html#link -5。
After correctly obtaining the base station data, you can observe information such as protocol number, data rate, base station
coordinates, satellite numbers, and signal-to-noise ratio (SNR) on the RTK/GPS inject page.
Note
Although this chapter uses the Android version of Mission Planner as an example to set network RTK parameters, we do not recommend using this method for aircraft parameter tuning. For complex flight control parameter adjustments, it is preferable to use the Windows version of Mission Planner.
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