RTKLIB-compatible GPS devices

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RTKLIB-compatible GPS devices - Other languages

A number of GPS devices output raw measurements (carrier phase and code pseudorange) compatible with RTKLIB. Pairing up this free-libre/open-source software with a lower-cost hardware option significantly lowers the barrier to entry for centrimeter-level accuracy positioning.

The most affordable are the single frequency receivers. The dual frequency receivers are more expensive but have a higher accuracy, especially for baselines longer than about 50 km; the advantage is much less pronounced in sub-km baselines.

Several types of device exist:

  • individual modules and parts
  • do-it-yourself (DIY) kits
  • evaluation boards
  • pre-assembled custom units
  • commercial-off-the-shelf (COTS) units
    • PDAs with built-in GPS
    • Cellphones with built-in GPS

Soldering may be involved in the first two types.

Supported receivers

Receiver overview
Brand Device Supported frequencies Approximate price
SkyTraq S1315F Single frequency GPS €100[1]
SkyTraq NS-RAW Single frequency GPS $80[2]
SkyTraq NS-HP Single frequency GPS $50[3]
NVS NV08C BINR Single frequency GPS and GLONASS €250[4], $120[5]
U-blox LEA-6T Single frequency GPS $349[6] €295[7]
U-blox LEA-5T Single frequency GPS No longer available
U-blox LEA-4T Single frequency GPS No longer available
U-blox NEO-6T Single frequency GPS €140[8]
U-blox NEO-6P Single frequency GPS (also pseudoPPP) €140[9]
U-blox EVK-6P Single frequency GPS (also pseudoPPP)
U-blox EVK-7P Single frequency GPS (also pseudoPPP) 250,€+
U-blox EVK-M8T Single frequency GPS 250,€+
U-blox NEO-M8T Single frequency GNSS €75
U-blox ZED-F9P Multiple frequencies GNSS €220
Allystar HD9310 Multiple frequencies GNSS 200,$ +
Furuno GW-10 II/III Unknown Unknown
Hemisphere Eclipse Dual frequency GPS, GLONASS and Galileo From $1125[10]
Hemisphere Crescent Single frequency GPS Unknown
JAVAD Multiple receivers supporting GRIL/GREIS Multiple frequencies From $1500
NovAtel OEM4/V/6, OEM3, OEMStar and Superstar II Multiple frequencies Unknown
Garmin GPSMap66 [11] Single frequency GPS, GLONASS, Galileo $399
Garmin Montana 700 [12] Single frequency GPS, GLONASS, Galileo $599

Unofficially supported receivers

sirf2 (with pre-XTrack firmware) and sirf4 receivers support raw data messages (MID7, MID8 and MID28) out of the box. Some sirf3-based receivers were successfully patched to enable carrier phase in MID28.

Most u-blox receivers provide GPS raw data output. Recent ublox6 with external flash and ublox7-based receivers can also provide glonass raw data (the data quality is not validated). U-blox raw format provides the details on enabling and using the u-blox raw messages. SirfRAW provides the details on enabling and using the sirf raw messages.

Receiver overview
Brand Device Module ROM/Flash Ext. antenna antenna Imax/Vmax Frequency Approximate price Comment
sirf2 Royaltek RGM-2000 - 231.000.000 - - =1 Hz No longer available
sirf2 Billionton CFGPS2-B - 220.006.000ES MCX - =1 Hz No longer available
sirf2 Holux GM-270 - 220.006.000ES MCX - =1 Hz No longer available
sirf2 Fortuna U2 - 231.000.000 - - =1 Hz No longer available
sirf2 Navilock NL-203P - 2.3.2-GSW2-2.05.024-C1Prod1.1 - - =1 Hz No longer available
sirf2 Mitac Mio 168 - 2.3.2-GSW2-2.05.024-C1PROD1.0_6A mMCX ? =1 Hz GPS_UART=COM2:(BTUART=/dev/ttyS1) EXT_UART=COM1:(FFUART=/dev/ttyS0)
sirf2 GlobalSat BT-308 - ? mMCX ?/3.3V =1 Hz BT.
sirf2 DELL_BT-309_bluetooth_(Globalsat_BT-308) - ? mMCX ?/3.3V =1 Hz BT.
sirf3 TomTom MK-II - GSW3.0.2TomTom1.1_3.0.00.03-C3P1.02b - - =1 Hz Raw carrier phase data provided by factory firmware!
sirf3 Itead GPS shield EB-365 GSW3.2.4_3.1.00.12-SDK003P1.00a SMA ? =1 Hz $25[13] Pin 6 -> BOOTSEL
sirf3 HTC Athena - GSWLT3.0.0-SDKHT_3.1.01.00-SDKLT001P1.00a MS-147 ? =1 Hz Problems with reflashing patched firmware (RSA key)
sirf3 HTC Artemis - GSW3.2.4Pat2_3.1.00.12-SDK001P1.00 MS-147 ? =1 Hz Missing flash failure recovery
sirf4 Navilock NL-442U - GSD4e_4.0.4-P1 08/13/2010 225 - - =1 Hz
sirf4 Navilock NL-443P - GSD4e_4.0.4-P1 08/13/2010 225 - - =1 Hz
sirf4 Itead GPS shield REB-4216 GSD4e_4.1.2-P1 R+ 11/15/2011 319 SMA ?/3.3V =5 Hz $25[14]
sirf4 Waspmote GPS Telit JN3 GSD4e_4.1.2-P1 R+ 11/15/2011 319 uFL ?/3.3V =5 Hz 53,55€[15]
sirf4 Samsung Galaxy S II (I9100) - ? - - UART=/dev/ttySAC1
U-blox4 Audi MMI3G(P) HW41, VW RNS850 - ROM5.00 FAKRA ? >10 Hz [16] Provides data for Dead Reckoning: wheel tick counter, gyroscope+temperature, accelerometer
U-blox4 Toyota Touch & Go - FAKRA ? >10 Hz [17]
U-blox4 - EM-500 ROM5.00 mMCX ? >10 Hz No longer available RAM patch
U-blox4 - NL-507ETTL ROM5.00 - - 10 Hz RAM patch
U-blox4 - NL-508EUSB ROM5.00 - - 10 Hz RAM patch
U-blox4 Navilock BT-451 - ROM5.00 - - >10 Hz BT+miniUSB. RAM patch. Supports RAW over Bluetooth.
U-blox4 Wintec WBT-300 - ROM5.00 - - >10 Hz BT+miniUSB. RAM patch. Supports RAW over Bluetooth.
U-blox4 Wintec WBT-201 - ROM5.00 - - >10 Hz BT+miniUSB. RAM patch. Supports RAW over Bluetooth.
U-blox4 Wintec WSG-1000 - ROM5.00 int. uFL ? >10 Hz RAM patch. Supports RAW over Bluetooth.
U-blox5 Wintec WBT-202 - ROM5.00 - - Internal UART bridging breaks long packets => raw data access needs device firmware modifications.
U-blox5 Wintec WSG-2000 - ROM5.00 int. uFL ? Internal UART bridging breaks long packets => raw data access needs device firmware modifications.
U-blox5 Navilock NL-531EUSB NL-531EUSB ROM5.00 mMCX /3.3V TRK-SFRB + TRK-TRKD5
U-blox5 TwoNav Aventura LEA-5S ? MCX /3.3V ~500,€[18] Not yet supported. GPS_UART=COM5: EXT_UART=COM6:
U-blox5 Navilock NL-402U NL-551EUSB EXT6.02 - - ~2 Hz No longer available Update flash image for LEA-5H[19] EXT_G50_602_LEA-5H.bdbfccefb9dbd8395dec7adece53c1f9
U-blox5 Navilock NL-403P NL-550ERS EXT6.02 - - ~2 Hz No longer available Update flash image for LEA-5H[20] EXT_G50_602_LEA-5H.bdbfccefb9dbd8395dec7adece53c1f9
U-blox5 Navilock NL-404P NL-550ERS EXT6.02 - - ~2 Hz No longer available Update flash image for LEA-5H[21] EXT_G50_602_LEA-5H.bdbfccefb9dbd8395dec7adece53c1f9
U-blox5 Navilock NL-422MP NL-550ERS EXT6.02 - - ~2 Hz No longer available Update flash image for LEA-5H[22] EXT_G50_602_LEA-5H.bdbfccefb9dbd8395dec7adece53c1f9
U-blox5 DFRduino LEA-5H EXT6.02 SMA - ~2 Hz No longer available Update flash image for LEA-5H[23] EXT_G50_602_LEA-5H.bdbfccefb9dbd8395dec7adece53c1f9
U-blox6 Meizu M9 - ? - - RAM patch ?
U-blox6 Meizu MX - ? - - RAM patch ?
U-blox6 DFRduino LEA-6H EXT7.03 SMA - ~2 Hz Flash patch for LEA-6H [24]
U-blox6 Audi MMI3GP HW51 - ? FAKRA ? [25]
U-blox6 Navilock NL-602U NL-651EUSB ROM6.02 - - 10 Hz RAM patch
U-blox6 Navilock NL-602U NL-651EUSB EXT7.03 - - ~2 Hz Flash patch for LEA-6H [26]
U-blox6 Navilock NL-603P NL-650ERS ROM6.02 - - 10 Hz RAM patch
U-blox6 Navilock NL-603P NL-650ERS EXT7.03 - - ~2 Hz Flash patch for LEA-6H [27]
U-blox6 Navilock NL-604P NL-650ERS ROM6.02 - - 10 Hz RAM patch
U-blox6 Navilock NL-604P NL-650ERS EXT7.03 - - ~2 Hz Flash patch for LEA-6H [28]
U-blox6 Navilock NL-622MP NL-650ERS ROM6.02 - - 10 Hz RAM patch
U-blox6 Navilock NL-622MP NL-650ERS EXT7.03 - - ~2 Hz Flash patch for LEA-6H [29]
U-blox6 Navilock NL-622MP NL-650ERS EXT1.00 - - ~2 Hz Flash patch for LEA-6H. Can support RAW GLONASS, because of the low quality of its patch antenna (but with reduced C/No ratio)
U-blox6 Grove GPS E-1612 ROM7.03 uFL /3.3V >10 Hz $29.90[30] RAM patch
U-blox6 Xbee GPS NEO-6M ROM7.03 uFL /3.3V >10 Hz $31.50[31] RAM patch
U-blox6 VDB-800DR LEA-6R EXT7.03 DR 6R C0 2.00 uFL /3.3V =1 Hz 89.-€[32] TRK-SFRB + TRK-TRKD5
U-blox6 - NL-660ERS EXT1.00 - - ~2 Hz Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 - NL-661EUSB EXT1.00 - - ~2 Hz Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 - NL-662ETTL EXT1.00 - - ~2 Hz Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 Navilock NL-662U NL-661EUSB EXT1.00 - - ~2 Hz Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 Navilock NL-664P NL-660ERS EXT1.00 - - ~2 Hz 20,68€[33] Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 Navilock NL-682MP NL-660ERS EXT1.00 - - ~4 Hz 20,70€[34] Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox7 u-blox EVK-7N NEO-7N ROM1.00 SMA 30mA/3.3V =10 Hz 200,€+[35] Supports RAW GPS or GLONASS.
U-blox7 u-blox EVK-7N NEO-7N EXT1.01 SMA 30mA/3.3V >=4 Hz 200,€+[36] Supports RAW GPS or GLONASS. Can be also used with NEO-7P RAW firmware.
U-blox7 u-blox C027-G35 MAX-7Q ROM1.00 SMA /3.3V (10Hz) 70,60€+[37] Supports RAW GPS or GLONASS. Dead reckoning using wheelspeed messages from Drivetrain-CAN ? See also VW-CAN.
U-blox7 u-blox C027-U20 MAX-7Q ROM1.00 SMA /3.3V (10Hz) 200,€+[38] Supports RAW GPS or GLONASS. Dead reckoning using wheelspeed messages from Drivetrain-CAN ? See also VW-CAN.
U-blox7 Medion GoPal S3877(MD99355)[39] MAX-7Q ROM1.00 - - (10Hz) 99,99€+[40] GPS_UART=COM5: Supports RAW GPS or GLONASS.
U-blox7 TwoNav Anima[41] MAX-7Q ROM1.00 - - (10Hz) 299,€+[42] Supports RAW GPS or GLONASS.
U-blox7 HAB-GPSPI MAX-M7Q ? SMA 30mA/3.3V 35.99,£+[43] Untested
U-blox8 HAB-BO-M8Q3A-ASSY MAX-M8Q ? SMA 30mA/3.3V 26.39,£+[44] Untested
U-blox8 u-blox EVK-M8N NEO-M8N ROM2.01 SMA 30mA/3.3V >19 Hz 139,€+[45] Supports RAW GPS, GLONASS and BDS.
U-blox8 u-blox EVK-M8N NEO-M8N EXT2.00 SMA 30mA/3.3V >16 Hz 139,€+[46] Supports RAW GPS, GLONASS and BDS (Following GNSS combinations may be used: GPS+GLO(+SBAS+QZSS), GPS(+SBAS+QZSS)+BDS, GLO+BDS. Half-cycle carrier phase shift detection is pending).
U-blox8 Navilock NL-8022MU UBX-M8030-KT ROM2.01 - - >16 Hz older versions: FlashSize=1Mb. Supports RAW GPS, GLONASS and BDS (Following GNSS combinations may be used: GPS+GLO(+SBAS+QZSS), GPS(+SBAS+QZSS)+BDS, GLO+BDS.).
ROM SPG 3.01 newer versions: no flash, cannot be used for RTK.
U-blox8 Navilock NL-8022MP - ROM2.01 - - >16 Hz FlashSize=1Mb. Supports RAW GPS, GLONASS and BDS (Following GNSS combinations may be used: GPS+GLO(+SBAS+QZSS), GPS(+SBAS+QZSS)+BDS, GLO+BDS.).
U-blox8 Navilock NL-8222MP - ROM2.01 - - >16 Hz FlashSize=1Mb. Supports RAW GPS, GLONASS and BDS (Following GNSS combinations may be used: GPS+GLO(+SBAS+QZSS), GPS(+SBAS+QZSS)+BDS, GLO+BDS.).
DATAGNSS DataGNSS[47] D302-RTK ublox M8T 5Hz GPS+BDS+GAL/GPS+GLO+GAL,RTK receiver
DATAGNSS DataGNSS[48] D303-RTK Dual frequency RTK receiver Allystar 9310 5Hz GPS/BDS/GAL/GLO,L1/L2/L5,RTK receiver
NVS Globalsat TR-600G NV08C-CSM V2.06 SMA /3V 10 Hz 149,95€+ [49] Supports RAW GPS and GLONASS. Needs better STM32F103 firmware adaptation.

Vendors

This list is incomplete; please help expand it.
Chips & modules
Boards & kits
  • NavSpark [55]
  • Swiftnav (Piksi) [56]
  • EMLID (Navio, Reach) [57]
  • Sparkfun [58] (no raw data)
    • Sparkfun GeoChron Blue [59] (retired, no raw data)
  • Adafruit [60] (no raw data)
  • Drotek [61]
  • A DIY GPS receiver [62] (old, no raw data?)
  • SparkFunX Ublox GPS-RTK (Qwiic) - NEO-M8P-2 [63]
  • DATAGNSS Multi-band RTK evk, 119.00US$[64]
  • NEO-M8T GNSS FeatherWing [65]
  • Eltehs GNSS OEM - NEO-M8N GPS GNSS USB dongle receiver with SMA [66]
Custom integrators
  • OneTalent GNSS [67] (closed)
  • OptimalSystem [68]
COTS products (low cost)
See also
  • Pixhawk GPS Modules [78]

See also

v · d · e
GPS related articles
Main
GPS with good internal links, GNSS. Another formats: NMEA, FIT (Garmin),
GPX tracks: create
GPX tracks: convert
GPX tracks: upload
Visualise
Hardware (receivers)
GPS device reviews (with devices table), receive/lend: GPStogo
Accuracy
Other
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