RTKLIB-compatible GPS devices

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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,€+
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

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. ALL ublox 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). UbloxRAW provides the details on enabling and using the ublox 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[11] 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[12]
sirf4 Waspmote GPS Telit JN3 GSD4e_4.1.2-P1 R+ 11/15/2011 319 uFL  ?/3.3V =5 Hz 53,55€[13]
sirf4 Samsung Galaxy S II (I9100) -  ? - - UART=/dev/ttySAC1
U-blox4 Audi MMI3G(P) HW41, VW RNS850 - ROM5.00 FAKRA  ? >10 Hz [14] Provides data for Dead Reckoning: wheel tick counter, gyroscope+temperature, accelerometer
U-blox4 Toyota Touch & Go - FAKRA  ? >10 Hz [15]
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,€[16] 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[17] 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[18] 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[19] 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[20] 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[21] 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 [22]
U-blox6 Audi MMI3GP HW51 -  ? FAKRA  ? [23]
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 [24]
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 [25]
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 [26]
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 [27]
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[28] RAM patch
U-blox6 Xbee GPS NEO-6M ROM7.03 uFL /3.3V >10 Hz $31.50[29] RAM patch
U-blox6 VDB-800DR LEA-6R EXT7.03 DR 6R C0 2.00 uFL /3.3V =1 Hz 89.-€[30] 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€[31] Supports RAW GPS or GLONASS (using flash image for LEA-6N)
U-blox6 Navilock NL-682MP NL-660ERS EXT1.00 - - ~4 Hz 20,70€[32] 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,€+[33] Supports RAW GPS or GLONASS.
U-blox7 u-blox EVK-7N NEO-7N EXT1.01 SMA 30mA/3.3V >=4 Hz 200,€+[34] 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€+[35] 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,€+[36] Supports RAW GPS or GLONASS. Dead reckoning using wheelspeed messages from Drivetrain-CAN ? See also VW-CAN.
U-blox7 Medion GoPal S3877(MD99355)[37] MAX-7Q ROM1.00 - - (10Hz) 99,99€+[38] GPS_UART=COM5: Supports RAW GPS or GLONASS.
U-blox7 TwoNav Anima[39] MAX-7Q ROM1.00 - - (10Hz) 299,€+[40] Supports RAW GPS or GLONASS.
U-blox7 HAB-GPSPI MAX-M7Q  ? SMA 30mA/3.3V 35.99,£+[41] Untested
U-blox8 HAB-BO-M8Q3A-ASSY MAX-M8Q  ? SMA 30mA/3.3V 26.39,£+[42] Untested
U-blox8 u-blox EVK-M8N NEO-M8N ROM2.01 SMA 30mA/3.3V >19 Hz 139,€+[43] Supports RAW GPS, GLONASS and BDS.
U-blox8 u-blox EVK-M8N NEO-M8N EXT2.00 SMA 30mA/3.3V >16 Hz 139,€+[44] 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 - 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.).
NVS Globalsat TR-600G NV08C-CSM V2.06 SMA /3V 10 Hz 149,95€+ [45] Supports RAW GPS and GLONASS. Needs better STM32F103 firmware adaptation.

Vendors

This list is incomplete; please help expand it.
Chips & modules
Boards & kits
  • NavSpark [50]
  • Swiftnav (Piksi) [51]
  • EMLID (Navio, Reach) [52]
  • Sparkfun [53] (no raw data)
    • Sparkfun GeoChron Blue [54] (retired, no raw data)
  • Adafruit [55] (no raw data)
  • CSG Shop [56]
  • Drotek [57]
  • A DIY GPS receiver [58] (old, no raw data?)
Custom integrators
  • OneTalent GNSS [59] (closed)
  • OptimalSystem [60]
COTS products (low cost)
See also
  • Pixhawk GPS Modules [65]

See also