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elbridge / yard_bot

GPS-RTK based autonomous lawn mower
GNU General Public License v3.0
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ZED-F9P testing #7

Open elbridge opened 5 years ago

elbridge commented 5 years ago

Getting the module running with the u-center software is trivial. Set credentials for an NTIRP server also works, once I find one that is active. rtk2go.com:2101 using location MWERP (near NYC) locked right away. Then I got credentials to the West Virginia CORS network, but the only station that worked was Waynesburg PA (150 miles from here).
rtk_test_2-11-19 I got this data going back and forth between my back steps and the mounting block in the back yard. Each grouping at the end is while the antenna is stationary sitting in the same location each time I went back and forth. Each pixel in the image is 1 foot. So clearly we're not there yet, but this is about expected performance when working with a reference 150 miles away on a rainy night. The u-center software allows loading of any image you want and registering coordinates on it for visualization. But I don't have access to a decent map, maybe 1 inch per pixel or better. All the satellite imagery seems to be 1 ft per pixel or coarser.

elbridge commented 5 years ago

Some useful links for setting this thing up: https://drotek.gitbook.io/rtk-f9p-positioning-solutions/tutorials/setting-survey-in-time-and-position-accuracy https://www.ardusimple.com/qa-forum/page/2/

elbridge commented 5 years ago

cm level accuracy achieved!! Each pixel in this image is about a foot. I'm holding hte antenna in my hand and moving my arm back and forth to create this arc. The points toward the center are when I put my arm down by my side to run the computer. image

To set it up: I plugged both units into a single computer and opened two sessions of u-center. On one I loaded the attached script to set it in fixed base mode with RTK correction outputs. Note you need to manually set the coordinates of the location of your base station including altitude. Start up the NTRIP server under the receiver menu. Set values for server name and identifier. Go over to the other instance of u-center and turn on the NTRIP receiver, set the IP address and select the identifier you just created. The RTK light on the dev kit should turn off at this point. Keep watching u-center "Fix Mode". You're looking for it to say 3D/DGNSS/FIXED, then you have lock and should have cm accuracy. fixed_base_config.txt