search

MapIV / eagleye

Precise localization based on GNSS and IMU.
BSD 3-Clause "New" or "Revised" License
659 stars 146 forks source link

"inputting RTK results from the F9P" need two separate C099-F9P boards? #82

Closed likegogogo closed 2 years ago

likegogogo commented 2 years ago

"When inputting RTK results from the F9P into the Eagleye, two F9Ps are used as follows. (1) A receiver that outputs NMEA (RTK results from the F9P internal engine) (2) A receiver that measures RAW data through RTKLIB and outputs Doppler velocity." as this said.

by the way, "A receiver that measures RAW data", the RAW data is the RTCM V3 raw data ? or rtcm v3 data can be used to calc velocity?

Thanks

rsasaki0109 commented 2 years ago

"A receiver that measures RAW data", the RAW data is the RTCM V3 raw data ?

The raw data here should be in any format that can be positioned by rtklib, but map4 uses ubx and spf files, and We have not tested it with rtcm.

inpstr1-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,15:tersus,18:sp3)

https://github.com/MapIV/RTKLIB/blob/rtklib_ros_bridge/app/rtkrcv/conf/rtklib_ros_bridge_meijo_rtk.conf#L14

rsasaki0109 commented 2 years ago

"inputting RTK results from the F9P" need two separate C099-F9P boards?

Yes.

likegogogo commented 2 years ago

"inputting RTK results from the F9P" need two separate C099-F9P boards?

Yes.

Thank you for the kindly reply. why need two separate C099-F9P boards? one C099-F9P board can't output both raw data and NMEA?

rsasaki0109 commented 2 years ago

This is because when we did that before, the output of f9p became abnormal.

Perhaps there is a setting that can be done with a single f9p, but we have not found it.

likegogogo commented 2 years ago

thanks. If it can use only one f9p, it will be great. By the, MapIV/eagleye's RTK function can work well with ubox NEO-M8T? and still need two NEO-M8T?

rsasaki0109 commented 2 years ago

We have not tested it with m8t, but maybe eagleye will work with m8t. I don't know if it can be done with one m8t, but if one m8t can output nmea and ubx, eagleye will work.

Also, m8t is a single-frequency receiver, so I don't recommend it because of its poor rtk performance.

sukhrajklair commented 2 years ago

Are both gnss mounted on the vehicle? How do you get rtk corrections when both are moving?

rsasaki0109 commented 2 years ago

Both GNSS are mounted on the vehicle. Correction information is also obtained from another GNSS reference station. Three GNSS receivers are required.

rsasaki0109 commented 2 years ago

This issue is closed for now. If you have problems again, please reopen this issue.