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Build a DGPS system using RTKLIB, Quadrocopter, GPS receivers? Hardware upset?

asked 2016-04-13 11:46:40 -0600

Markus gravatar image

updated 2016-04-13 11:47:41 -0600


What I would like to do: The main goal of my project is to determine very precisely the baseline(geometric distance) between a Rover(Quadrocopter) and a base station. Therefore I am looking around what the best hardware upset is and how to do that. My suggestions is:

Rover: I would like to buy an Intel nuc board (e.g:NUC5i5MYBE ) and run Ubuntu 14.04 on it. Then I would like to install ROS on it. Thereby I would like to install the RTKLIB package on ROS. Then I would like to connect this INTEL Nuc board with my quadrocopter controller by a serial port. The quadrocopter controller is connected to a u-blox: Neo M8T receiver (by UART?, USB?) (which is itself connected to a antenna). The quadrocopter is the rover.

Base station: As a base station(which is fixed) I want to use just another NEO M8T reciever. Note that the quadrocopter is flying (not fixed) in a range of max. 2km away from the fixed base station.

Goals to achieve: Controling the Quad through the base station. Accurately determing its position. In the feature it should also be controlled some sensors connected to the intel nuc board.image description

Please have a look to the following picture on this side: (it shows my hardware upset considerations)

(1) What will be a good way to connect the NEO M8T receiver to the intel nuc board? (By UART?, USB?, SPI; DDC port). (6) Does anyone have some experienc with baud rates that RTKLIB (using the ROS package) needs to calculate in real-time a centimiter-level precise baseline. I mean what rate of bits have to be send over the UART or USB port between the receiver and the rover in what time to achieve such an accuracy. Is the NEO M8T a usefull receiver to accomplish this goal? (2) What is a good way to connect the base station with the rover. What kind of Data Link would you suggest I should use? One example would be using another PC as a base station, and running a STRSVR Server on this base station PC. This base station is connected by UART to the base station ubox receiver. The connection in this example is using a WIFI connection. (Note in this case the intel nuc of course must have a wifi card so that it can receive a wifi(2.4GHZ) signal. (3) Would you advise to use another frequency instead of WIFI? Is WIFI enough or too much to accomplish the Baud exchange rates needed for high accurate positioing in real time? (4) Would you advise to buy a UBlox Kit like the C94-M8P? To do the job? (10) Does anyone have some experience to buy instead of C94-M8P a Navio2 from Emild ( ) (5) What about the pixhawk tool from piksi. Has anyone some experience with it?

Hope you can help me (I am even delighted with ... (more)

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sry for asking so much questions in here about GPS receivers and how to connect them best. I just hope some of you did a DGPS system and have some experience to share.

Markus gravatar image Markus  ( 2016-04-13 12:25:44 -0600 )edit

I was wondering if you achieved your goal, I'm working on a similar project and it would be really useful and nice from you that you answer your own question or give me some insights. Thank you!

Jasmin gravatar image Jasmin  ( 2017-06-19 02:17:27 -0600 )edit

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answered 2021-01-20 21:56:09 -0600

qinyunchuan gravatar image

updated 2021-01-21 12:36:30 -0600

jayess gravatar image

I have developed a dgps ROS package without the dependency of rtklib. One can directly connect a rtk gnss module to the ROS computer via USB/Serial port. The node obtains RTCM differential GNSS data from internet server, via a mobile network.

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Asked: 2016-04-13 11:46:40 -0600

Seen: 1,432 times

Last updated: Jan 21