Simple set-up of a RTK base station
Here is a very simple set-up of a working RTK-GPS base station for the OpenMower project.
The purpose is to make base RTK GPS station that can broadcast base GPS RTK information on your local network to give OpenMower the reference data for accurate GPS localization.
Disclaimer
This material is provided as-is and free of charge. No guarantees of any kind are made that the information contained herein is exact or correct or does not violate any local regulations or cause any security risk. Any use you make of any information given here is at your own discretion and risk.
What you need
- Raspberry Pi
- GPS RTK module (see Building the Mower)
- Ethernet cable
- USB cable to connect Pi and GPS RTK module
What to do
- Install your Pi with the instructions here https://github.com/jancelin/pi-gen_RTKbase/releases/tag/BaseGNSS-RPi-2.3.1 (It is an installation of this project: https://github.com/Stefal/rtkbase).
- To begin with, you must install using an Ethernet cable
- Configure - @ow has a nice documentation of working settings - see image to the right
- That is really it
Verifying base station NTRIP configuration
If you want to ensure your base station is casting NTRIP information correctly, you can verify this using any other computer on the local network with the str2str (part of RTKLib) and gpsdecode (part of gpsd) commands.
Connect to the NTRIP caster using the following command, this should output RTCM3 messages to the console:
str2str -in ntrip://ntrip_user:ntrip_password@ntrip_host:ntrip_port/ntrip_mount | gpsdecode
Replace the above with the following:
- ntrip_user = Local caster username
- ntrip_password = Local caster password
- ntrip_host = Local caster hostname or IP address
- ntrip_port = Local caster port
- ntrip_mount = Local caster mount name