MicoAir RTK Family

MA-RTK-BASE

Tripod-mounted GNSS RTK base station with an integrated lithium battery, full-band GNSS reception, and standard RTCM correction output for MicoAir or third-party RTK modules.

• GNSS Receiver: UM982
• Default Port Baud Rate:  115200 ( USB Type-C / UART1 and GH1.25-4P / UART2)
• RTCM Output Rate: 1 Hz by default, configurable with UPrecise software
• Internal Battery: 2 x 21700 lithium cells, 5000 mAh each
• Battery Runtime: Approx. 12 hours with active RTK antenna and a 1 W average-power telemetry radio
• Max Charging Power: 10 W (5 V / 2 A)
• USB-to-UART Chip: CH340

MA-RTK-AIR-982

A high-precision rover module based on UM982, supporting L1+L2+L5 multi-band RTK and dual-antenna heading for magnetically harsh industrial environments.

• GNSS Receiver: UM982
• GNSS Band Support: L1 + L2 + L5
• Satellite Systems: GPS L1C/A, L2P*/L2C, L5*; BDS B1I, B2I, B3I; GLONASS G1, G2; Galileo E1, E5a*, E5b; QZSS L1, L2, L5* (Marked with * are supported only by the main antenna ANT1)
• Onboard Compass: IST8310
• Output Protocol: NMEA-0183, factory default with no data output; ArduPilot/PX4 will configure it automatically
• Interface(GPS): UART (3.3V LVTTL)
• Interface(Compass): I2C
• Default Baud Rate: 115200, usually auto-configured by the autopilot to 230400
• Autopilot Support: ArduPilot / PX4
• Max Navigation rate:  20 Hz
• Max Navigation Satellites: 28 (Standalone Mode) / 50+ (RTK Mode)
• RTK Accuracy¹: Horizontal 0.8 cm + 1 ppm; vertical 1.5 cm + 1 ppm
• Standalone Accuracy¹: 1.5m
• Power / Input Voltage: 700 mW, VCC 4-5 V
• Size / Weight: 39 x 21.5 x 16 mm; 20 g without antenna
• Interfaces: MMCX x 2, SMA x 1 antenna; GH1.25-6P x 1, GH1.25-4P x 1 data

MA-RTK-AIR-626

A compact L1+L5 dual-band RTK module based on UM626N, optimized for cost-sensitive swarms applications such as drone light shows.

• GNSS Receiver: UM626N
• GNSS Band Support: L1 + L5
• Satellite Systems: GPS L1C/A, L5; BDS B1I, B2a; GLONASS G1; Galileo E1, E5a; QZSS L1, L5
• Onboard Compass: IST8310
• Output Protocol: UBX (u-blox compatible protocol)
• Interface(GPS): UART (3.3V LVTTL)
• Interface(Compass): I2C
• Default Baud Rate: 115200, not configurable
• Autopilot Support: ArduPilot; PX4 is not currently supported
• Max Navigation rate:  10 Hz
• Max Navigation Satellites: 36
• RTK Accuracy¹: 1.5 cm + 1 ppm
• Standalone Accuracy¹: 1.5m
• Power / Input Voltage: 200 mW, VCC 4-5 V
• Size / Weight: 44 x 29 x 14.7 mm; 13 g without antenna
• Interfaces: SMA x 1 antenna; GH1.25-6P x 1, GH1.25-4P x 1 data

MA-RTK-AIR-F9P

A stable and mature L1+L2 RTK rover module based on UBX-ZED-F9P, ideal for users prioritizing proven compatibility and reliable field operation.

• GNSS Receiver: u-blox ZED-F9P
• GNSS Band Support: L1 + L2
• Satellite Systems: GPS L1C/A, L2C; BDS B1I, B2I; GLONASS G1, G2; Galileo E1, E5b; QZSS L1, L2
• Onboard Compass: IST8310
• Output Protocol: UBX / NMEA-0183
• Interface(GPS): UART (3.3V LVTTL)
• Interface(Compass): I2C
• Default Baud Rate:38400, usually auto-configured by the autopilot to 230400
• Autopilot Support: ArduPilot / PX4 
• Max Navigation rate: 8 Hz RTK / 10 Hz standalone
• Max Navigation Satellites: 32
• RTK Accuracy¹: 1.0 cm + 1 ppm
• Standalone Accuracy¹: 1.5m
• Power / Input Voltage: 350 mW, VCC 4-5 V
• Size / Weight: 44 x 29 x 14.7 mm; 13 g without antenna
• Interfaces: SMA x 1 antenna; GH1.25-6P x 1, GH1.25-4P x 1 data

¹ Accuracy results may vary with atmospheric conditions, baseline length, GNSS antenna performance, multipath, visible satellite count, and satellite geometry.

Physical

Two RTCM correction data links for UAV autopilot systems

The RTK air module must receive RTCM differential correction data from the ground base station to achieve centimeter-level high-precision positioning. There are two common RTCM link modes:

• Ground Station Forwarding: The ground base station is connected to a computer via USB. Ground station software connects to the base station and forwards the RTCM data output by the base station to the currently connected autopilot, usually through a telemetry radio link. Mission Planner, QGC, and MicoAir MicoConfigurator all support RTCM forwarding.
• Base Station Telemetry Broadcast: The base station broadcasts RTCM data through a telemetry radio. The RTK air module is connected to a separate telemetry radio to receive the RTCM data from the base station and apply the differential corrections.

MicoConfigurator connects to the base station and automatically forwards RTCM data to the autopilot:

The 4-pin port on the air module is typically used to connect an optional telemetry radio for receiving RTCM differential correction data. If RTCM data is forwarded through the flight controller, a telemetry radio connection is not required.

Autopilot Configuration Tutorial

MA-RTK-AIR-F9P Tutorial

Like a standard u-blox GPS module, the F9P can be automatically detected and configured by both ArduPilot and PX4 firmware. In most cases, you can keep the autopilot’s default settings.

If the GPS cannot be detected, the issue is usually related to the hardware connection. Check whether the connection port and wire sequence are correct.

MA-RTK-AIR-626 Tutorial

The MA-RTK-AIR-626 currently supports only ArduPilot firmware, including Skybrush. PX4 firmware is not supported yet.

In ArduPilot, disable automatic GPS configuration by setting:

Keep the other settings at their default values, and the 626 module can be detected automatically.

MA-RTK-AIR-982 Tutorial

ArduPilot Configuration

Without dual antennas:

Alternatively, you can configure it directly on the GPS page in MicoConfigurator.

With dual antennas:

Note: The baseline length, meaning the horizontal distance between the two antennas, must be greater than 20 cm to achieve good heading accuracy.

GPS1_TYPE = 25 (UnicoreMovingBaselineNMEA)
GPS1_RATE_MS = 100 (10 Hz)
GPS_MB1_TYPE = 1

GPS_MB1_TYPE sets the type used by GPS 1 in Moving Base mode. This parameter is used for dual-antenna RTK heading solutions. After setting it, refresh the parameter list or reconnect to the autopilot before the GPS_MB1_OFS sub-parameters are displayed.

The antenna offset parameters are critical for the autopilot to calculate real-time heading using dual-antenna RTK. They must be set carefully.

• GPS_MB1_OFS_X: X-axis offset of the main antenna relative to the secondary antenna, in meters. If the main antenna is in front of the secondary antenna, use a positive value; otherwise, use a negative value.
• GPS_MB1_OFS_Y: Y-axis offset of the main antenna relative to the secondary antenna, in meters. If the main antenna is to the right of the secondary antenna, use a positive value; otherwise, use a negative value.
• GPS_MB1_OFS_Z: Z-axis offset of the main antenna relative to the secondary antenna, in meters. If the main antenna is lower than the secondary antenna, use a positive value; otherwise, use a negative value.

It is also recommended to set the main antenna position offset parameters GPS_POS1_X, GPS_POS1_Y, and GPS_POS1_Z to improve positioning performance during yaw rotation.

After setting these parameters, also set:

This allows the autopilot’s heading estimation to use the dual-antenna heading data.

PX4 Configuration

Set:

Then reboot the autopilot, and the GPS should be detected.

Set:

This enables dual-antenna heading.

Set GPS_YAW_OFFSET according to the antenna installation direction. If the main antenna is in front of the secondary antenna, meaning the two antennas are aligned parallel to the aircraft’s forward direction, set the heading offset to 0.

The angle increases clockwise. If the main antenna is on the right side of the aircraft and the secondary antenna is on the left side, set the offset to 90 degrees.

3D Model 

• MA-RTK-AIR-982 Download “MA-RTK-AIR-982_Model.zip” MA-RTK-AIR-982_Model.zip – Downloaded 6 times – 969.70 KB
• MA-RTK-AIR-F9p&626 Download “MA-RTK-AIR-F9P-626_Model.zip” MA-RTK-AIR-F9P-626_Model.zip – Downloaded 6 times – 652.21 KB

STL files for prints

• RTK Base Station and Telemetry Radio Mount Download “RTK-Base-Station-and-Telemetry-Radio-Mount.zip” RTK-Base-Station-and-Telemetry-Radio-Mount.zip – Downloaded 5 times – 33.02 KB