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3 Rover mode

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SGruel edited this page Aug 4, 2017 · 3 revisions

ROVER MODE

  • Open the Rover mode;
  • A window offering you different position calculation modes appears, choose one of the modes to start the position calculation, the main RTKlib calculation methods are available, to change these configurationsyou must manually edit * .ubx files in the folder /RTKBASE/conffiles. In the statement of position it is advisable to choose the PPP-Static for better precision mode(If possible use a corrections via NTRIP)

  • Option page after choosing Rover

6 modes are preset in the UBX files for Rover or calculating base position before using it as basestation:

  • Single: RTKlib only calculates its position standalone without any correction

  • SBAS: RTKlib uses the correction provided by the EGNOS satellites in Europe and the WAAS satellites un USA. the correction is provided by a ground stations and returned to the SBAS satellites that return them to GNSS receiver.

  • DGPS: corrections RTKlib uses a ground station transmitted by RF link, GSM, or internet access, the proximity of correction stations provides a more locally adapted corrections than SBAS

  • PPP-Static: RTKlib applies a smoothing on the path created by the raised positions to reduce positions errors (a kind of averaged) we can apply some DGPS corrections ( to set corrections you must configure a Ntrip account access in the configuration files * .ubx)

  • RTK static: RTKlib performs a differential calculation between the base, ideally located idealy in less than 70Km of the rover (the closer is the better), and satellites. the distance and bearing between the rover and the base is taken into account (baseline). the calculation method knows that the rover is static.

  • RTK kinematic: same calculation method as the RTK static but we know that the rover will move for the calculation. The resulting path is smoothed as for the PPP

  • If you want a USB key position log for post processing, configure log option in configuration files * .ubxThe default configuration files are provided for Ublox, if you use a different GNSS you have to change the parameter input stream to the protocol of your constructor (NVS, Skytraq, etc ....)

o The window "Stream" opens. You will see activity at the Rover line.Otherwise there may be: GPS is not connected, or that your GPS is not communicating the right protocol (UBX, RTCM ...), or connection with the GPS is wrong.(USB/serial) If the problem is still there you can watch the log file to try to find the cause of the error, ... Moreover, in RTK mode, information will also be posted on the received streamby the Rover from the base, or in correction mode, which is received from theNtrip (Caster).

If the connexion with the GNSS is wrong you will get this status in the windows

o To Choose the status view you want, click on the window (anywhere except on buttons) and a new window will open and you can choose different status display of the RTKlib server. o To access the options again later, just click anywhere on the window.

o Window "Status": Choose the type of units (llh or XYZ) for your solutions. The type of calculation mode selected (here DGPS) is displayed. The restitution level of the solution is shown in the field "status solution" means that the single solution is not the expected level.

To save the parked position, click "SAVE". The coordinates of the point (the point here) is saved in a file whose name format will be the type YYYYMMDD_HHMMSS.txt (eg 20141215_150322.txt). Files are stored in a folder "PointFiles" in the folder that runs the program. Date information and time correspond to the elements Rover. Hence the importance of putting in the time the Raspberry,failing to check the current time. The following items for the same session will also saved in the same file as a different number. If the rover mode is closed and opened again, a new file will be created.

o Window "Sat": this view allows you to check the number and status of satellites observed.You can click on the "General" buttons, "elevation", "azimuth" in order to see the other view.

o Evolution Position 'window to see how the position changes over time.To date only the first 100 positions are stored by the Rover. We must improve thisoption by adapting the scale and duration of the monitoringpoints. This system is based on QCustomPlot, whose source file is integrated into the project.

o To close the mode, simply press the screen and in the options Press the button "CLOSE". You will return to the main screen.

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