RTKLIB-compatible GPS devices
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
| Brand | Device | Supported frequencies | Approximate price |
|---|---|---|---|
| SkyTraq | S1315F | Single frequency GPS | €100 |
| SkyTraq | NS-RAW | Single frequency GPS | $80 |
| SkyTraq | NS-HP | Single frequency GPS | $50 |
| NVS | NV08C BINR | Single frequency GPS and GLONASS | €250, $120 |
| U-blox | LEA-6T | Single frequency GPS | $349 €295 |
| U-blox | LEA-5T | Single frequency GPS | No longer available |
| U-blox | LEA-4T | Single frequency GPS | No longer available |
| U-blox | NEO-6T | Single frequency GPS | €140 |
| U-blox | NEO-6P | Single frequency GPS (also pseudoPPP) | €140 |
| U-blox | EVK-6P | Single frequency GPS (also pseudoPPP) | |
| U-blox | EVK-7P | Single frequency GPS (also pseudoPPP) | 250,€+ |
| U-blox | EVK-M8T | Single frequency GPS | 250,€+ |
| U-blox | NEO-M8T | Single frequency GNSS | €75 |
| U-blox | ZED-F9P | Multiple frequencies GNSS | €220 |
| Allystar | HD9310 | Multiple frequencies GNSS | 200,$ + |
| Furuno | GW-10 II/III | Unknown | Unknown |
| Hemisphere | Eclipse | Dual frequency GPS, GLONASS and Galileo | From $1125 |
| 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 | Single frequency GPS, GLONASS, Galileo | $399 |
| Garmin | Montana 700 | 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.
| 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 | 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 | |
| sirf4 | Waspmote GPS | Telit JN3 | GSD4e_4.1.2-P1 R+ 11/15/2011 319 | uFL | ?/3.3V | =5 Hz | 53,55€ | |
| sirf4 | Samsung Galaxy S II (I9100) | - | ? | - | - | UART=/dev/ttySAC1 | ||
| U-blox4 | Audi MMI3G(P) HW41, VW RNS850 | - | ROM5.00 | FAKRA | ? | >10 Hz | Provides data for Dead Reckoning: wheel tick counter, gyroscope+temperature, accelerometer | |
| U-blox4 | Toyota Touch & Go | - | FAKRA | ? | >10 Hz | |||
| 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,€ | 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 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 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 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 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 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 | |
| U-blox6 | Audi MMI3GP HW51 | - | ? | FAKRA | ? | |||
| 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 | |
| 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 | |
| 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 | |
| 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 | |
| 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 | RAM patch |
| U-blox6 | Xbee GPS | NEO-6M | ROM7.03 | uFL | /3.3V | >10 Hz | $31.50 | RAM patch |
| U-blox6 | VDB-800DR | LEA-6R | EXT7.03 DR 6R C0 2.00 | uFL | /3.3V | =1 Hz | 89.-€ | 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€ | Supports RAW GPS or GLONASS (using flash image for LEA-6N) |
| U-blox6 | Navilock NL-682MP | NL-660ERS | EXT1.00 | - | - | ~4 Hz | 20,70€ | 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,€+ | Supports RAW GPS or GLONASS. |
| U-blox7 | u-blox EVK-7N | NEO-7N | EXT1.01 | SMA | 30mA/3.3V | >=4 Hz | 200,€+ | 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€+ | 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,€+ | Supports RAW GPS or GLONASS. Dead reckoning using wheelspeed messages from Drivetrain-CAN ? See also VW-CAN. |
| U-blox7 | Medion GoPal S3877(MD99355) | MAX-7Q | ROM1.00 | - | - | (10Hz) | 99,99€+ | GPS_UART=COM5: Supports RAW GPS or GLONASS. |
| U-blox7 | TwoNav Anima | MAX-7Q | ROM1.00 | - | - | (10Hz) | 299,€+ | Supports RAW GPS or GLONASS. |
| U-blox7 | HAB-GPSPI | MAX-M7Q | ? | SMA | 30mA/3.3V | 35.99,£+ | Untested | |
| U-blox8 | HAB-BO-M8Q3A-ASSY | MAX-M8Q | ? | SMA | 30mA/3.3V | 26.39,£+ | Untested | |
| U-blox8 | u-blox EVK-M8N | NEO-M8N | ROM2.01 | SMA | 30mA/3.3V | >19 Hz | 139,€+ | Supports RAW GPS, GLONASS and BDS. |
| U-blox8 | u-blox EVK-M8N | NEO-M8N | EXT2.00 | SMA | 30mA/3.3V | >16 Hz | 139,€+ | 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-8022MU | - | 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-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 D302-RTK | ublox M8T | 5Hz | GPS+BDS+GAL/GPS+GLO+GAL,RTK receiver | ||||
| DATAGNSS | DataGNSS 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€+ | Supports RAW GPS and GLONASS. Needs better STM32F103 firmware adaptation. |
Vendors
- This list is incomplete; please help expand it.
- Chips & modules
- Boards & kits
- NavSpark
- Swiftnav (Piksi)
- EMLID (Navio, Reach)
Sparkfun(no raw data)Adafruit(no raw data)- Drotek
A DIY GPS receiver(old, no raw data?)- SparkFunX Ublox GPS-RTK (Qwiic) - NEO-M8P-2
- DATAGNSS Multi-band RTK evk, 119.00US$
- NEO-M8T GNSS FeatherWing
- Eltehs GNSS OEM - NEO-M8N GPS GNSS USB dongle receiver with SMA
- Custom integrators
- COTS products (low cost)
- Alberding
- Geneq
- Geomatics USA
- Tersus
- DataGNSS
- EMLID ReachRS
- ArduSimple RTK2B
- Polaris GNSS
- Rokubun Argonaut
- See also
See also
- RTKLIB#Research, for reports of prototype development efforts.
- GPS device reviews, for more general types of GPS devices.
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