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HKUST-Aerial-Robotics / ublox_driver

A driver for u-blox receiver (ZED-F9P) with ros support
GNU General Public License v3.0
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help to obtain rtk solution #6

Closed dineshrboson closed 2 years ago

dineshrboson commented 2 years ago

If your receiver owns an internal RTK engine (for example, ZED-F9P), you can input RTCM messages from the GNSS base station to the receiver in order to obtain the cm-level accurate RTK localization result. Our software can forward the RTCM stream from a local socket to the receiver's serial port. Nowadays many GNSS stations distribute their RTCM streams via NTRIP protocol and you can easily fetch the NTRIP data and map it to a local socket via RTKLIB. Following those commands to build RTKLIB and setup the RTCM stream:

I connected my zed f9ps base station to the ucentre, flashed 1.13 firmware and loaded base conf to it and in the tools->ntrip client-> I added one ip port and uname and password and selected mount point and clicked ok then I executed ./str2str -in ntrip://${NTRIP_SITE}:${NTRIP_PORT}/${MOUNT_POINT} -out tcpsvr://:3503 by changing all ntrip site and remaining respectively. and its keep on telling 401 unauthorized and I dont know where to enter uname and pw so thats 1st case and 2nd case is rtk2go.com 2101 port it does not ask for uname and password so I selected mount and configured ntrip client in ucentre so this time when I executed ./str2str -in ntrip://${NTRIP_SITE}:${NTRIP_PORT}/${MOUNT_POINT} -out tcpsvr://:3503 with ./str2str -in ntrip://$rtk2gocom:2101/ACACU -out tcpsvr://:3503 This time its showing bytespersecond and but the end its showing (2)waiting when I changed the yaml file to 1 in input_rtcm its saying you cannot connect to port 3503

shaozu commented 2 years ago

According to the manual of RTKLIB, the ntrip client parameter for str2str is ntrip://[user[:passwd]@]addr[:port][/mntpnt].

In our experiment we use the public GNSS reference station maintained by the government as base station and no username and password are required. So I never connected two F9Ps together for a RTK setup. However this setup is very common and is certainly doable. rtk2go.com is one way to publish data in ntrip protocol, and I think str2str also has similar function. In you first step I suggest you to connect two receivers on a single linux PC and try to use str2str to stream the serial data from base station to the rover in ntrip protocol. You can type str2str -h to check all data mapping functions of RTKLIB.

dineshrboson commented 2 years ago

Hi is there any topic publishing heading from your ublox package.

shaozu commented 2 years ago

No. But you can get one easily from the north and east component of the velocity vector in GnssPVTSolnMsg.