CUAV C-RTK 2 HP Positioning Module

Product overview

The CUAV C-RTK 2 HP Positioning Module combines multi-constellation, multi-frequency GNSS positioning with dual-antenna heading for unmanned systems. Its hardware includes an STM32F4 processor, an RM3100 electronic compass and UART and DroneCAN interfaces. Satellite-derived heading provides an alternative to magnetic heading in civilian applications such as power line inspection, mine inspection and shipboard takeoff and landing, where surrounding magnetic fields can interfere with an electronic compass. In the ArduPilot configuration, the RM3100 can serve as a backup when EK3_SRC1_YAW is set to 3.

Heading is available in single-point positioning and RTK operation without an RTK base station. Centimeter-level positioning requires RTK corrections from a compatible base station or an NTRIP/CORS service. Specified RMS positioning accuracy is 0.8 cm + 1 ppm horizontally and 1.5 cm + 1 ppm vertically in RTK operation, compared with 1.5 m horizontally and 2.5 m vertically in single-point operation. The higher-accuracy RTK Fixed solution requires sufficiently good signals and is extremely demanding of environmental conditions. The module is not designed as a base station, and configuring it for that role is complex.

Dual-antenna heading requires secure antenna mounting and an unobstructed sky view; nearby windows or obstructions can prevent heading acquisition. Antenna separation greater than 30 cm is recommended rather than mandatory, with wider spacing improving directional stability. Positioning alone can use only the main antenna, ANT1. Antenna orientation and the main antenna's offset from the vehicle's center of gravity require correct configuration to avoid heading or positioning errors. The module measures 50 × 37 × 17 mm, weighs 40 g, and operates at 4.7–5.2 V and -20 to 85 °C.

ArduPilot support starts at firmware version 4.4.0. PX4 heading connectivity remains uncertain because CUAV's instructions contain conflicting guidance: they provide a DroneCAN heading setup but also explicitly state that PX4 cannot parse this model's heading data through DroneCAN and specify UART2 for heading instead. UART2 is therefore the expressly identified PX4 heading connection, while DroneCAN heading compatibility cannot be treated as established. The UART configuration requires receiver setup and corresponding PX4 settings for the heading source, antenna orientation and position offsets.

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