RTKroverGNSS_1_0_0

Image for Raspberry Pi 2,3,4,zeroW + GNSS ublox F9P

change:

• Rtkrcv conf for kinematic Centipede.
• Send log rtkrcv pos to central server (postgresql) with uniq id rover.
• Autoconnect to hotspot wifi (ssid: BUOY paswd:12345678) for monitoring Rover, you can modify ssid and paswd after sd flah and before first boot in /boot/wpasupplicant.conf
• Default GNSS port on ttyAMA0 (GPIO TXRX), after sd flah and before first boot, modify /bootcmdline.txt , delete console=serial0, 115200

bug:

• send data don't start well at boot

fomat data out:

date time lat lon height q ns sdn sde sdu sdne sdeu sdun age ratio base_id
2021/05/20 07:41:25.000 46.142657341 -1.157516715 66.9777 2 29 0.0038 0.0024 0.0071 -0.0006 0.0016 -0.0028 0.00 0.0 buoy_1

dev_rover_0_1

start rtkrcv at boot

test

2.0.3

Update settings.conf.default

BaseRTK-rpi-V0_4

Experimental

From https://github.com/Stefal/rtkbase

Build with https://github.com/jancelin/image-builder-rpi/tree/BaseRTK_v0.4.0

Changelog

• 0.4.0 potential bug RTKLIB explorer

• 0.4.1 RTKLIB tomojitakasu 2.4.3

• add WIFI

• add Bluetooth

• add rover function (single, test base, static base to base, kinematic tpc nmea, kinematic bluetooth nmea)

• modify make Rinex from ubx

Material

• Raspberry Pi 3 or 4

• Micro SD 16Go mini

• F9P

• D910

Installation

SSH

ssh centipede@centipede.local

password: centipede

sudo -s 
cd /rtkbase

Inside baseRTK-rpi-V0.4.0

• Debian 10 Buster

• RTKbase

• RTKLIB 2.4.3

• Cloud CMD

Image

• Image builder

BaseRTK-rpi-V0.3.1

Experimental

From https://github.com/Stefal/rtkbase

Build with https://github.com/jancelin/image-builder-rpi/tree/BaseRTK_v0.3.1

Material

• Raspberry Pi 3 or 4

• Micro SD 16Go

• F9P

• D910

Installation and use

• Install U-center

• Update F9P firmware

• Download baseRTK-rpi-V0.3.1.img.zip

• flash this image with etcher (windows,mac, linux) on a micro sd card 16 Go mini

• plug in micro sd on Raspberry pi

• connect ethernet (with internet alive)

• connect USB GNSS F9P

option: connect raspberry pi on a screen for view install logs.

• powers the raspberry pi and wait env 2 min (see logs)

• go to http://centipede.local:8000

• go to /rtkbase

• Edit settings.conf: right click > Edit

• click on F2 &

  • 1 - base rtkrcv status: print solution/status (signal, satellites, ...) of GNSS antenna to the caster. ex: status satellite observ stream help
  • 2 - make Rinex Files: Make Rinex files from Log (.ubx) for calculate xyz base position. All data are in /data
  • 3 - List services: display health of tcp, file and ntrip service.
  • 4 - Start RTCM3: start ntrip service to send rtcm3 data to the caster.
  • 5 - Stop RTCM3: stop ntrip service
  • 6 - Start Log: start log service for save .ubx data
  • 7 - Stop Log: stop log
  • A - update system: checkin and update file system (git pull)
  • B - update receveir: go to /receiver_cfg before. Updating GNSS antenna F9P parameters to get a RTK base station

THEN...

1. do to /receiver_cfg directory and click on F2 > "update receiver"
2. right click on settings.conf file > Edit >
   - change position='45.999381 -1.213787 50' by an approximate position of the antenna ('lat long height'), the precise calculation of the position will be done later.
   • change mnt_name ex: mnt_name=FOO
     • ctrl s (save)
3. click on F2 > Stop RTCM3 & Stop Log
4. click on F2 > Start RTCM3 & Start Log
5. Go to the /data directory to check that the news logs are writing (refresh)
6. Wait 24h
7. Go to the /data directory & download the last 0000-00-00-0000-RINEX_BASE_Xs_Yh.zip (right click)
8. unzip 0000-00-00-0000-RINEX_BASE_Xs_Yh.zip
9. Use this procedure to calculate the position
10. Change position='45.999381 -1.213787 50' by the calculated precise position position='47.164793708 -1.948418882 63.0592'
11. Click on F2 > Stop RTCM3 & Start RTCM3
12. Verify connection :

    • right click on rtkrcv.conf file

      • Edit > modify ligne 106: :@caster.centipede.fr:2101/BASE: by yours ex: @caster.centipede.fr:2101/FOO:

      • ctrl s (save)

13. click on F2 > Base rtkrcv Status
14. Wait 30s and write status enter & Check that you have values ex:
    - ...
    • # of rtcm messages rover 1004(24),1012(24),1019(11),1020(12),1045(3),1046(2),1077(25),1087(25),1097(25),1127(25)
      • ...
      • pos xyz single (m) rover : 4195923.155,159534.157,4784995.569
      • pos llh single (deg,m) rover: 48.92293482,2.17740715,84.661
      • ...
15. If OK then GNSS RTK base is working with Centipede Caster
16. send an email to contact@centipede.fr to activate the base on the Centipede map
    • name
    • email
    • mount Point Name
    • material

SSH

ssh centipede@centipede.local

password: centipede

sudo -s 
cd /rtkbase

Inside baseRTK-rpi-V0.3.1

• Debian 10 Buster

• RTKbase

• RTKLIB 2.4.3

• Cloud CMD

Image

• Image builder

BaseRTK-rpi-V0.3.0

Experimental

From https://github.com/Stefal/rtkbase

Build with https://github.com/jancelin/image-builder-rpi/tree/BaseRTK_v0.3.0

Installation and use :

• Download baseRTK-rpi-V0.3.0.img.zip

• flash this image with etcher (windows,mac, linux) on a micro sd card 16 Go mini

• plug in micro sd on Raspberry pi

• connect ethernet (with internet alive)

• connect USB GNSS F9P

option: connect raspberry pi on a screen for view install logs.

• powers the raspberry pi and wait env 2 min (see logs)

• go to http://centipede.local:8000

• go to /rtkbase

• click on F2 &

  • 1 - base rtkrcv status: print solution/status (signal, satellites, ...) of GNSS antenna to the caster. ex: status satellite observ stream help
  • 2 - make Rinex Files: Make Rinex files from Log (.ubx) for calculate xyz base position. All data are in /data
  • 3 - List services: display health of tcp, file and ntrip service.
  • 4 - Start RTCM3: start ntrip service to send rtcm3 data to the caster.
  • 5 - Stop RTCM3: stop ntrip service
  • 6 - Start Log: start log service for save .ubx data
  • 7 - Stop Log: stop log
  • A - update system: checkin and update file system (git pull)
  • B - update receveir: go to /receiver_cfg before. Updating GNSS antenna F9P parameters to get a RTK base station

THEN...

• 1. do to /receiver_cfg directory and click on F2 > "update receiver"
• 2. right click on settings.conf file > Edit >
     • change position='45.999381 -1.213787 50' by an approximate position of the antenna ('lat long height'), the precise calculation of the position will be done later.
  • change mnt_name ex: mnt_name=FOO
    • ctrl s (save)
• 3. click on F2 > Stop RTCM3 & Stop Log
• 4. click on F2 > Start RTCM3 & Start Log
• 5. Go to the /data directory to check that the news logs are writing (refresh)
• 6. Wait 24h
• 7. Go to the /data directory & download the last 0000-00-00-0000-RINEX_BASE_Xs_Yh.zip (right click)
• 8. unzip 0000-00-00-0000-RINEX_BASE_Xs_Yh.zip
• 9. Use this procedure to calculate the position
• 10. Change position='45.999381 -1.213787 50' by the calculated precise position position='47.164793708 -1.948418882 63.0592'
• 11. Click on F2 > Stop RTCM3 & Start RTCM3
• 12. Verify connection :

  • right click on rtkrcv.conf file

    • Edit > modify ligne 106: :@caster.centipede.fr:2101/BASE: by yours ex: @caster.centipede.fr:2101/FOO:

    • ctrl s (save)

• 13. click on F2 > Base rtkrcv Status
• 14. Wait 30s and write status enter & Check that you have values ex:
      • ...
  • # of rtcm messages rover : 1004(24),1012(24),1019(11),1020(12),1045(3),1046(2),1077(25),1087(25),1097(25),1127(25)
    • ...
    • pos xyz single (m) rover : 4195923.155,159534.157,4784995.569
    • pos llh single (deg,m) rover: 48.92293482,2.17740715,84.661
    • ...
• 15. If OK then GNSS RTK base is working with Centipede Caster
• 12. send an email to contact@centipede.fr to activate the base on the Centipede map
  • name
  • email
  • mount Point Name
  • material

Inside baseRTK-rpi-V0.3.0

• Debian 10 Buster

• RTKLIB 2.4.3

• Cloud CMD

• RTKbase

Image

• Image builder

baseRTK-rpi-V0.2.5

Experimental

Installation and use

• Download baseRTK-rpi-V0.2.5.img.zip

• flash this image with etcher (windows,mac, linux) on a micro sd card 16 Go mini

• plug in micro sd on Raspberry pi

• connect ethernet (with internet alive)

• connect USB GNSS F9P

option: connect raspberry pi on a screen for view install logs.

• powers the raspberry pi and wait env 2 min (see logs)

• go to http://centipede.local:8000

• go to /rtkbase

• Edit settings.conf: right click > Edit

• click on F2 &

  • 1 - base rtkrcv status: print solution/status (signal, satellites, ...) of GNSS antenna to the caster. ex: status satellite observ stream help
  • 2 - make Rinex Files: Make Rinex files from Log (.ubx) for calculate xyz base position. All data are in /data
  • 3 - List services: display health of tcp, file and ntrip service.
  • 4 - Start RTCM3: start ntrip service to send rtcm3 data to the caster.
  • 5 - Stop RTCM3: stop ntrip service
  • 6 - Start Log: start log service for save .ubx data
  • 7 - Stop Log: stop log
  • A - update system: checkin and update file system (git pull)
  • B - update receveir: go to /receiver_cfg before. Updating GNSS antenna F9P parameters to get a RTK base station

Inside baseRTK-rpi-V0.2.5

• Debian 10 Buster

• RTKLIB 2.4.3

• Cloud CMD

• RTKbase

Image

• Image builder

baseRTK-rpi-V0.2.1

add dos2unix bc xxd

RTK base Centipede

Experimental

• Download Centipede-V0.1.img.zip

• flash image with etcher (windows,mac, linux) on a micro sd card 16 Go mini

• plug micro sd on Raspberry pi

• connect ethernet (with internet alive) : docker images are not inside, install make a pull images on dockerhub

• connect USB GNSS F9P

• option: connect raspberry pi on a screen (hdmi) for view install logs.

• powers the raspberry pi and wait env 10 min (see logs)

• go to http://centipede.local/

• connect to cloud commander: login admin pswd centipede

• click on F2

• double click on 4. start RTCM3 & Logs

• ...