Multi-Sensor RTK/PPP Module

Multi-Sensor RTK/PPP Module

RTK, PPP and Multi-Sensor Fusion on a Single Board

With precise position, velocity and attitude information




Position accuracy


Slip angle accuracy



The ANavS® Multi-Sensor (MS-) RTK/PPP module provides precise position, velocity and attitude information. It is a turnkey system with a very attractive price/performance ratio and can be easily integrated into your application. It is widely used in the automotive, robotics, maritime, railway and mining industry, and of course also for surveying.

The ANavS® MS-RTK/PPP module includes up to 3 Multi-frequency, Multi-GNSS (GPS + Galileo + Glonass + Beidou) receivers, MEMS IMUs (industrial-grade, mid-grade, high-grade), a barometer, a CAN interface for reception of vehicle data (wheel odometry and steering angle), an LTE module for reception of RTK/ PPP corrections (e.g. from ANavS® RTCM reference station), and the powerful ANavS® Sensor Fusion on a single board. The latter one performs a tight coupling of all sensor data with an Extended Kalman Filter (EKF).

The ANavS® MS-RTK/ PPP module has various interfaces (e.g. Ethernet, USB, WiFi) that could be used for the connection of additional sensors, e.g. a camera or Lidar, or for outputting the position informationPrior position and attitude information e.g. from an external Simultaneous Localization and Mapping (SLAM) could be used by the ANavS® MS-RTK/ PPP module.

Overview MSRTK

  • Precise absolute RTK positioning:
    horizontal accuracy:
    sigma = 1.0 cm
    vertical accuracy:
    sigma = 2.0 cm
  • Precise absolute PPP positioning:
    horizontal accuracy:
    sigma = 15 cm
    vertical accuracy:
    sigma = 20 cm
  • Precise absolute attitude (heading, pitch, roll):
    sigma = 0.25° for 1 m distance
    between the GNSS antennas
  • GPS (L1C/A, L1C, L1PY, L2C, L2P, L5)
  • Galileo (E1, E5a, E5b, E5 AltBoc, E6)
  • GLONASS (L1CA, L2CA, L2P, L3)
  • Beidou (B1I, B1C, B2a, B2I, B3)
  • QZSS (L1C/A, L1C, L2C, L5, L6)
  • SBAS (Egnos, WAAS, GAGAN, MSAS, SDCM (L1, L5))
  • On module L-band

Power supply:

  • USB-C 5V
  • Terminal connector: up to 36V

Solution output:

  • Standardized NMEA format
  • Proprietary ANavS binary format
  • ACOM format (compatible with OxTS NCOM format)
  • ROS support


  • Powerful Cortex-A72 64-bit Quad-Core with 1.5GHz
  • Linux-OS for flexibiltiy
  • Dimension:
    110mm x 80mm x 30 mm
  • Weight: 50g
  • Power Consumption:
    Peak: 15W (3A)
    Average: 6.5W (1.3A)
  • Ethernet
  • WLAN
  • USB
  • CAN
  • LTE (with VPN remote-access)

The ANavS® MS-RTK/PPP module supports both Real-Time Kinematics (RTK) and Precise Point Positioning (PPP). RTK positioning uses measurements from a terrestrial reference station (e.g. ANavS® RTCM reference station) that are sent to the MS-RTK module via internet or long-range UHF modem. PPP uses satellite position, clock offset, phase and code bias corrections that are sent via internet or directly via satellite (using Galileo’s High Accuracy Service, HAS). The RTK positioning typically provides a higher positioning accuracy and faster convergence than PPP, but requires at least a partial internet coverage of your target application region and proper reference station infrastructure.

Both RTK and PPP include an advanced GNSS signal processing. A detailed mathematical description of RTK positioning can be found here and for PPP here. The ANavS® Sensor Fusion is ready to use the Galileo HAS corrections for its Multi-Sensor PPP solution. The MS-RTK/PPP module supports both positioning approaches with the same set of integrated sensors. No additional hardware is required and changes only affect the configuration, meaning that the MS-RTK/PPP module can serve as a single hardware platform for the Sensor Fusion no matter if the position is determined using RTK or PPP.

The MS-RTK/PPP module is designed for a fast prototyping and product integration (OEM-board) and can directly be used after connecting the GNSS antennas. You can choose between an industrial casing and a printed light one for all applications where weight is a key requirement.

Tell us more about your application and how we can be part of improvements. We encourage you to send us your questions and special requests about the MS-RTK/PPP and the ANavS® Sensor Fusion. Together we can find the perfect solution for your needs.

Quick overview



Equipped for every situation with the need of high-precise positioning and navigation

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