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Stefal / rtkbase

Your own GNSS base station for RTK localization with a Web GUI
GNU Affero General Public License v3.0
448 stars 113 forks source link
base caster f9p frontend gnss gui mosaic-x5 ntrip orange-pi-zero raspberry-pi rtk rtklib sbc septentrio single-board-computers str2str u-blox web

readme

RTKBase

An easy to use and easy to install web frontend with bash scripts and services for a simple headless gnss base station.

FrontEnd:

|status|settings|logs|

Frontend's main features are:

Base example:

status

Other images are available in the ./images folder.

Ready to flash release:

A ready to flash image is available for Orange Pi Zero, Orange Pi Zero 2, Orange Pi Zero 3 SBC : Armbian_RTKBase

If you use a Raspberry Pi, thanks to jancelin, you can download a ready to flash iso file here.

Easy installation:

Manual installation:

The install.sh script can be used without the --all option to split the installation process into several different steps:

    ################################
    RTKBASE INSTALLATION HELP
    ################################
    Bash scripts to install a simple gnss base station with a web frontend.

    * Before install, connect your gnss receiver to raspberry pi/orange pi/.... with usb or uart.
    * Running install script with sudo

    Easy installation: sudo ./install.sh --all release

    Options:
            -a | --all <rtkbase source>
                             Install all you need to run RTKBase : dependencies, RTKlib, last release of Rtkbase, services,
                             crontab jobs, detect your GNSS receiver and configure it.
                             <rtkbase source> could be:
                                 release  (get the latest available release)
                                 repo     (you need to add the --rtkbase-repo argument with a branch name)
                                 url      (you need to add the --rtkbase-custom-source argument with an url)
                                 bundled  (available if the rtkbase archive is bundled with the install script)

            -u | --user
                             Use this username as User= inside service unit and for path to rtkbase:
                             --user=john will install rtkbase in /home/john/rtkbase

            -d | --dependencies
                             Install all dependencies like git build-essential python3-pip ...

            -r | --rtklib
                             Get RTKlib 2.4.3b34g from github and compile it.
                             https://github.com/rtklibexplorer/RTKLIB/tree/b34g

            -b | --rtkbase-release
                             Get last release of RTKBase:
                             https://github.com/Stefal/rtkbase/releases

            -i | --rtkbase-repo <branch>
                             Clone RTKBASE from github with the <branch> parameter used to select the branch.

            -j | --rtkbase-bundled
                             Extract the rtkbase files bundled with this script, if available.

            -f | --rtkbase-custom <source>
                             Get RTKBASE from an url.

            -t | --unit-files
                             Deploy services.

            -g | --gpsd-chrony
                             Install gpsd and chrony to set date and time
                             from the gnss receiver.

            -e | --detect-gnss
                             Detect your GNSS receiver. It works only with receiver like ZED-F9P.

            -n | --no-write-port
                             Doesn'\''t write the detected port inside settings.conf.
                             Only relevant with --detect-gnss argument.

            -c | --configure-gnss
                             Configure your GNSS receiver.

            -s | --start-services
                             Start services (rtkbase_web, str2str_tcp, gpsd, chrony)

            -h | --help
                              Display this help message.

So, if you really want it, let's go for a manual installation with some explanations:

  1. Install dependencies with sudo ./install.sh --dependencies, or do it manually with:

    sudo apt update
sudo apt install -y  git build-essential pps-tools python3-pip python3-dev python3-setuptools python3-wheel libsystemd-dev bc dos2unix socat zip unzip pkg-config psmisc

  2. Install RTKLIB with sudo ./install.sh --rtklib, or:

    • get RTKlib

      cd ~
wget -qO - https://github.com/rtklibexplorer/RTKLIB/archive/refs/tags/b34j.tar.gz | tar -xvz

    • compile and install str2str:

      Optionally, you can edit the CTARGET line in makefile in RTKLIB/app/str2str/gcc

      cd RTKLIB/app/str2str/gcc
nano makefile

      For an Orange Pi Zero SBC, i use:

      CTARGET = -mcpu=cortex-a7 -mfpu=neon-vfpv4 -funsafe-math-optimizations

      Then you can compile and install str2str:

      make
sudo make install

    • Compile/install rtkrcv and convbin the same way as str2str.

  3. Get latest rtkbase release sudo ./install.sh --rtkbase-release, or:

    wget https://github.com/stefal/rtkbase/releases/latest/download/rtkbase.tar.gz -O rtkbase.tar.gz
tar -xvf rtkbase.tar.gz

    If you prefer, you can clone this repository to get the latest code.

  4. Install the rtkbase requirements:

    
python3 -m pip install --upgrade pip setuptools wheel  --extra-index-url https://www.piwheels.org/simple
python3 -m pip install -r rtkbase/web_app/requirements.txt  --extra-index-url https://www.piwheels.org/simple

  5. Install the systemd services with sudo ./install.sh --unit-files, or do it manually with:

    • Edit them (rtkbase/unit/) to replace {user} with your username.
    • If you log the raw data inside the base station, you may want to compress these data and delete the too old archives. archive_and_clean.sh will do it for you. The default settings compress the previous day data and delete all archives older than 90 days. To automate these 2 tasks, enable the rtkbase_archive.timer. The default value runs the script every day at 04H00.
    • Copy these services to /etc/systemd/system/ then enable the web server, str2str_tcp and rtkbase_archive.timer: 
      sudo systemctl daemon-reload
sudo systemctl enable rtkbase_web
sudo systemctl enable str2str_tcp
sudo systemctl enable rtkbase_archive.timer

  6. Install and configure chrony and gpsd with sudo ./install.sh --gpsd-chrony, or:

    • Install chrony with sudo apt install chrony then add this parameter in the chrony conf file (/etc/chrony/chrony.conf):

      refclock SHM 0 refid GPS precision 1e-1 offset 0.2 delay 0.2

      Edit the chrony unit file. You should set After=gpsd.service

    • Install a gpsd release >= 3.2 or it won't work with a F9P. Its conf file should contains:

      
# Devices gpsd should connect to at boot time.
# They need to be read/writeable, either by user gpsd or the group dialout.
DEVICES="tcp://localhost:5015"

# Other options you want to pass to gpsd
GPSD_OPTIONS="-n -b"
    Edit the gpsd unit file. You should have something like this in the "[Unit]" section:

    [Unit] Description=GPS (Global Positioning System) Daemon Requires=gpsd.socket BindsTo=str2str_tcp.service After=str2str_tcp.service

    + Reload the services and enable them:
```bash
  sudo systemctl daemon-reload
  sudo systemctl enable chrony
  sudo systemctl enable gpsd

  7. Connect your gnss receiver to raspberry pi/orange pi/.... with usb or uart, and check which com port it uses (ttyS1, ttyAMA0, something else...). If it's a U-Blox F9P receiver (usb or uart) or a Septentrio Mosaic-X5 (usb), you can use sudo ./install.sh --detect-gnss. Write down the result, you may need it later.

  8. If you didn't have already configure your gnss receiver, you must set it to output raw data:

    If it's a U-Blox ZED-F9P (usb or uart), or a Septentrio Mosaic-X5 (usb) you can use 

    sudo ./install.sh --detect-gnss --configure-gnss

    If you need to use a config tool from another computer (like U-center), you can use socat:

    sudo socat tcp-listen:128,reuseaddr /dev/ttyS1,b115200,raw,echo=0

    Change the ttyS1 and 115200 value if needed. Then you can use a network connection in U-center with the base station ip address and the port n°128.

  9. Now you can start the services with sudo ./install.sh --start-services, or:

    sudo systemctl start rtkbase_web
sudo systemctl start str2str_tcp
sudo systemctl start gpsd
sudo systemctl start chrony
sudo systemctl start rtkbase_archive.timer

    Everything should be ready, now you can open a web browser to your base station ip address.

How it works:

RTKBase use several RTKLIB str2str instances started with run_cast.sh as systemd services. run_cast.sh gets its settings from settings.conf

internal

The web GUI is available when the rtkbase_web service is running.

Advanced:

Other usages:

A gnss receiver with a timepulse output is a very accurate stratum 0 clock thus, your gnss base station could act as a stratum 1 ntp peer for your local network and/or the ntp pool. There are a few steps to do this:

History:

See the changelog

License:

RTKBase is licensed under AGPL 3 (see LICENSE file).

RTKBase uses some parts of other software:

RTKBase uses OpenStreetMap tiles. Thank you to all the contributors!