Set rtkbase in Mission planner Manual
Operation instruction
1. Base/Rover Survey by Mission Planner
This part of the tutorial uses Mission Planner ground software and Arducopter-4.3.5 flight firmware for operating instructions.
To use SIYI F9P RTK Base on a UXV, you need the following hardware： Computer, telemetry modules, SIYI F9P RTK Base, Base Antenna, and Tripod.
Before starting to use it, please make sure that the hardware connection is correct:
Ground side: Connect the base antenna to the base station, then connect the base station module to the computer through a USB port; the Telemetry module is connected to another USB port of the same computer. UXV side: Connect F9P BASE Base to CAN interface, telemetry module to the TELEM interface on flight control.
Antenna Placing
Placing the RTK Antenna is very important for getting precise RTK positioning
Normal GPS positioning only requires you to place the device near a window and it will provide you a GPS location over a period of time. But that’s not enough for RTK. For the working environment of RTK, there are special requirements on antenna placement, which are much stricter than GPS.
The best environment for the base and rover antenna is a clear view of the sky that is 30 degrees above the horizon. RTK antenna can be elevated but ensure that there are no obstacles around, such as buildings, trees, cars, etc
Examples of a bad environment: are indoors, in urban areas, in forests, or near the ground.
Examples of a good environment are open spaces, the peak of a mountain, and the roof of a building.
Do not place the antenna near electronic devices, as high-power electronic devices in close proximity may affect the radio frequency noise of the GPS signal. Examples are mobile phone base stations, high-voltage transformers, etc.
Please place the base station in an outdoor environment with sufficient sky coverage to obtain a good satellite signal.
Place the base station on a stable and elevated platform, such as a tripod.
- Open the Mission Planner
- Enter the initial settings
- Click on the optional hardware
- Click on RTK/GPS Inject you will see the following page:
- Set the base station port in the upper left corner
- Click connect
- In the SurveyIn Acc section, enter the absolute geographic accuracy that you expect your F9P RTK base station to achieve. In the Time field, enter the shortest search time you want.
- Click Restart (the ground station will transfer the data you input to the F9P RTK base station, and the base station will start a new round of search star positioning)
- You will see the following page: During the search process, the current search star positioning will be displayed in the box on the right side of the Mission Planner page:
- The position is invalid: The base station has not yet reached a valid location;
- In Progress: Search Star is still in progress;
- Duration: The number of seconds the current search star has been executed;
- Observation: the number of observations obtained;
- Current Acc: The absolute geographic accuracy that the current base station can achieve.
- The green vertical bar below Mission Planner shows the satellite and satellite signal strengths currently searched by the base station. The base station requires a certain amount of convergence time to meet your desired accuracy requirements. After testing, in an unobstructed area, it takes a few minutes to reach an absolute accuracy of 2m, and an absolute accuracy of less than 30cm takes about one hour, and it takes several hours (under ideal conditions) to achieve an accuracy of less than 10cm.
Note
The absolute geographic accuracy of the base station here will affect the absolute geographic accuracy of the mobile station without affecting the relative accuracy of the base station and the mobile station. If your application does not require drones with high absolute geographic accuracy, you don’t need to set the base station’s accuracy too high, resulting in longer search times. Even if the accuracy of the base station is 1.5~2m, the positional accuracy of the mobile station relative to the base station can still reach the centimeter level.
Using NTRIP Network RTK Base Station
Mission planner supports NTRIP protocol to access CORS network RTK base station service instead of RTK base. Setup Tutorial:
- Set to NTRIP in MP Ground Station>Initial Settings>Optional Hardware>RTK/GPS Inject
- Click “Connect” to enter the URL.
URL format:http://Account:password@host:port/RTCM32_GGB.
Note
Ardupilot uses the WGS84 coordinate system, and the CORS port number should be set to 8002; the MP ground station will save observation log files in the log storage folder during work, which can be used for PPK post-calculation.
Using the paired digital transmission module to connect to the same Mission Planner ground station, the data of the base station will be transmitted to the RTK mobile station on the drone through the data transmission module. On the main page of Mission Planner, you can see that the current GPS status of the drone is displayed as RTK Float/RTK Fixed/3D RTK, indicating that the UAV’s positioning has entered the RTK state.
RTK positioning status
- RTK Float is a floating point solution.
- RTK Fixed is a fixed solution.
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