Professional Documents
Culture Documents
1. What is RTK
2. RTK applications
3. How to build RTK environment
4. RTK configuration on rover
5. Where can I buy GNSS devices?
6. Moving-base RTK
7. Useful web sites
Known
position
Antenna
Phase Difference①
Phase Difference②
Baseline vector
(Relative position)
RTK can expand GNSS use field over traditional PNT (Positioning, Navigation, Timing).
RTK survey
and
Traditional optical survey UAV mapping
SPP
◆Maritime RTK
Moving-base
SPP RTK
Moving-base RTK
RTK
Ship navigation
Moving-base
RTK
◆UAV Moving-base
RTK
SPP
Attitude
Monitoring
More
precise map RTK
RTK
RTK
- RTK
- SPP
Receiver
Antenna
Rover (User)
PC Internet Antenna
Ntrip
Ntrip Receiver
Receiver caster
server
software
Rover (User)
Antenna
Receiver
Rover (User)
Japanese government base station Our University base station Temporary base station
• Antenna Type
• Frequency
NavIC
QZSS
SPS
L6
GPS GPS Check datasheet
QZSS BeiDou QZSS
GPS B1
BeiDou
QZSS
B3
L5
Low cost
receivers are
now available!
Net-R9
AsteRx-SB
NET-G5
AsteRx-m2a
OEM7
Delta-3
HD9300
M8T M8P
・RTK
If there is another RTK base station near your base, you can calculate by PPK (Post-Process
Kinematic).
Antenna
Nearest base
Your base station Rinex data
station
PPK by
RTKLIB
TUMSAT GNSS Lab 18
3. How to build RTK environment
Bias of SPP
Other server
• BKG
https://igs.bkg.bund.de/ntrip/download
http://www.rtk2go.com/
◆Rover antenna
Same manufacturer antenna with base station is recommended.
However, there is not much degradation between antennas from other manufacturers.
High performance
◆RTK (Septentrio with PC) Select base station Input to COM17 port
https://www.septentrio.com/en/products/software/rxtools
Downloand link
https://www.septentrio.com/en/support/software/rxtools
2 COM port
TUMSAT GNSS Lab 27
4. RTK configuration on rover
https://play.google.com/store/apps/details?id=com.septentrio.pinpointgis&hl=en
https://www.u-blox.com/en/product/u-center
https://play.google.com/store/apps/details?id=com.lefebure.ntripclient&hl=en
You need to setup ublox’s UART port that connect with RTK Solution (NMEA)
Bluetooth module Bluetooth
・Input : RTCM
・Output : NMEA
・Baud rate : Same with Bluetooth module.
◆RTK (RTKNAVI)
Real time RTK engine that supports many receivers.
To use RTKNAVI, first you should set receiver to output “raw data”.
“raw data” means binary observation message include RTCM.
RTKNAVI decodes this “raw data” and calculate RTK solution.
◆RTK (RTKNAVI)
Receiver configuration on u-center.
First, select COM port of the receiver and connect. Then open “message view”.
Open message view
Device Manager
Select port
◆RTK (RTKNAVI)
Receiver configuration on u-center. Open message view from View>Message View.
You need to click “send” after change configuration.
◆RTK (RTKNAVI)
After receiver configuration was completed, save it and disconnect receiver.
“Disconnect”
◆RTK (RTKNAVI)
Open RTKNAVI.
◆RTK (RTKNAVI)
Set input stream.
◆RTK (RTKNAVI) Here the RTK position will be written to the file.
Also you can choose other option (TCP, Serial) according
Set output stream & log stream. to your use case
◆RTK (RTKNAVI)
Set option to calculate RTK.
After option setting, click
“Start” and then RTK starts.
◆Antenna
Ardusimple ebay
◆Receiver
◆Receiver
◆Receiver
◆Receiver
GNSS GNSS
antenna 1 antenna 2
Set protocol in of used UART to RTCM. Baudrate should be over Enable RELPOSNED (UBX-NAV)
115200. (UBX-CFG-PRT)
TUMSAT GNSS Lab 49
6. Moving-base RTK
GNSS GNSS
antenna 1 antenna 2
reciever1 reciever2
RTKNAVI
Setting to output UBX format (UBX-CFG-PRT) Enable output of RAWX & SFRBX (UBX-RXM )
TUMSAT GNSS Lab 52
6. Moving-base RTK
Base antenna
position