From 3cf6e3bd9c2ec84919cccea64a6deb94c025affb Mon Sep 17 00:00:00 2001 From: Nathan Seidle Date: Wed, 1 May 2024 16:21:23 -0600 Subject: [PATCH] Update docs --- docs/correction_sources.md | 154 ++--------------- ...erywhere - Corrections Priorities Menu.png | Bin 0 -> 7863 bytes ... Everywhere - GNSS Menu Constellations.png | Bin 9507 -> 9160 bytes ...parkFun RTK Everywhere - GNSS Receiver.png | Bin 18026 -> 10384 bytes .../SparkFun RTK Everywhere - Main Menu.png | Bin 14250 -> 8271 bytes ...SparkFun RTK Everywhere - Network Menu.png | Bin 7783 -> 0 bytes ...SparkFun RTK Everywhere - TCP-UDP Menu.png | Bin 0 -> 12882 bytes ...parkFun RTK Torch - Device ID Stickers.png | Bin 0 -> 191781 bytes ...Fun RTK Everywhere - PointPerfect Menu.png | Bin 0 -> 36488 bytes docs/menu_corrections_priorities.md | 160 ++++++++++++++++++ docs/menu_network.md | 25 --- docs/menu_pointperfect.md | 16 +- docs/menu_tcp_udp.md | 23 +++ mkdocs.yml | 11 +- 14 files changed, 214 insertions(+), 175 deletions(-) create mode 100644 docs/img/Terminal/SparkFun RTK Everywhere - Corrections Priorities Menu.png delete mode 100644 docs/img/Terminal/SparkFun RTK Everywhere - Network Menu.png create mode 100644 docs/img/Terminal/SparkFun RTK Everywhere - TCP-UDP Menu.png create mode 100644 docs/img/Torch/SparkFun RTK Torch - Device ID Stickers.png create mode 100644 docs/img/WiFi Config/SparkFun RTK Everywhere - PointPerfect Menu.png create mode 100644 docs/menu_corrections_priorities.md delete mode 100644 docs/menu_network.md create mode 100644 docs/menu_tcp_udp.md diff --git a/docs/correction_sources.md b/docs/correction_sources.md index a1f0b2bc7..f0c28fa85 100644 --- a/docs/correction_sources.md +++ b/docs/correction_sources.md @@ -2,150 +2,22 @@ Torch: ![Feature Supported](img/Icons/GreenDot.png) -To achieve an RTK Fix, SparkFun RTK products must be provided with a correction source. This correction data, sometimes called RTCM (see [What is RTCM?](https://learn.sparkfun.com/tutorials/what-is-gps-rtk/all#what-is-rtcm)), can be produced from a variety of sources. +![RTK Corrections Priorities Menu]() -* [Paid Services](correction_sources.md#paid-services) -* [Government Provided Corrections](correction_sources.md#government-provided-corrections) -* [Permanent Base](correction_sources.md#permanent-base) +*RTK Corrections Priorities Menu* -## Paid Services +To achieve an RTK Fix, SparkFun RTK products must be provided with a [correction source](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/correction_sources/). An RTK device can obtain corrections from a variety of sources. Below is the list of possible sources (not all platforms support all sources) and their default priorities: -These services cover entire countries and regions but charge a monthly fee. Easy to use, but the most expensive. +* Bluetooth +* IP (PointPerfect/MQTT) +* TCP (NTRIP) +* L-Band +* External Radio +* LoRa Radio +* ESP-Now -* [PointPerfect](correction_sources.md#pointperfect) ($8/month) - US, EU, as well as parts of Australia, Brazil, and South Korea. -* [PointOneNav](correction_sources.md#pointone-nav) ($50/month) - US, EU -* [Skylark](correction_sources.md#skylark) ($29 to $69/month) - US, EU, Japan, Australia -* [Vector RTK](https://vectorrtk.com/) ($115/month) - UK -* [SensorCloud RTK](https://rtk.sensorcloud.com/pricing/) ($100/month) partial US, EU -* [KeyNetGPS](https://www.keypre.com/KeynetGPS) ($375/month) North Eastern US -* [Hexagon/Leica](https://hxgnsmartnet.com/en-US) ($500/month) - partial US, EU +The *Corrections Sources* menu allows a user to specify which correction source should be given priority. For example, if corrections are provided over Bluetooth and L-Band simultaneously, the corrections from L-Band will be blocked because the Bluetooth source has a higher priority. This prevents the RTK engine from receiving potentially mixed correction signals. -### PointPerfect +![RTK Corrections Priorities Menu]() -One of the great features of SparkFun RTK Everywhere devices is that they are equipped to get corrections from a service called PointPerfect. No need for NTRIP credentials! [Contact SparkFun](https://www.sparkfun.com/pointperfect) with your device ID, pay a small monthly fee of $8 per month (as of this writing) and your device will obtain credentials and start receiving corrections anywhere there is coverage. Please see the [PointPerfect Menu](menu_pointperfect.md) page for more information. - -[![PointPerfect Coverage map including L-Band and IP delivery methods]()](https://www.u-blox.com/en/pointperfect-service-coverage) - -*PointPerfect Coverage map including L-Band and IP delivery methods* - -The PointPerfect IP service is available for various areas of the globe including the contiguous US, EU, South Korea, as well as parts of Brazil, Australia, and Canada. See the [coverage map](https://www.u-blox.com/en/pointperfect-service-coverage) for specifics. - -Some SparkFun RTK devices support corrections delivered over IP only (ie, RTK Torch), some devices support L-Band only, and some devices support both IP and L-Band delivery methods. Please see the product description or hookup guide for your particular device for more information. - -### PointOne Nav - -![PointOne Nav US Coverage Map 2024]() - -*PointOne Nav Coverage Map - US 2024* - -In this example, we will use PointOneNav and SW Maps. - -1. Create an account on [PointOneNav](https://app.pointonenav.com/trial?src=sparkfun). **Note:** This service costs $50 per month at the time of writing. - -2. Open SW Maps and connect to the RTK device over Bluetooth. - -3. Once connected, open the SW Maps menu again (top left corner) and you will see a new option; click on ‘NTRIP Client'. - -4. Enter the credentials provided by PointOneNav and click Connect (Figure 1). Verify that *Send NMEA GGA* is checked. - - ![NTRIP credentials in SW Maps]() - - *Figure 1* - -5. Corrections will be downloaded every second from PointOneNav using your phone’s cellular connection and then sent down to the RTK device over Bluetooth. You don't need a very fast internet connection or a lot of data; it's only about 530 bytes per second. - - Assuming you are outside, as soon as corrections are sent to the device, the bubble in SW Maps will turn Orange (RTK Float). Once RTK Fix is achieved (usually under 30 seconds) the bubble will turn Green and the HPA will be below 20mm (Figure 2). You can now take positional readings with millimeter accuracy! - - ![Double crosshair indicating RTK Fix]() - - *Figure 2* - - In SW Maps, the position bubble will turn from Blue (regular GNSS fix), then to Orange (RTK Float), then to Green (RTK Fix) (Figure 3). - - ![Green bubble indicating RTK Fix]() - - *Figure 3* - -RTK Fix will be maintained as long as there is a clear view of the sky and corrections are delivered to the device every few seconds. - -### Skylark - -![Skylark coverage area](img/Corrections/Skylark-Coverage.png) - -*Skylark Coverage Area* - -A company called SwiftNav offers a service called [Skylark](https://www.swiftnav.com/skylark). As of writing, for $29 to $69 per month, you will get corrections covering North America, Europe, and the Asia Pacific. This is a very simple method for obtaining NTRIP corrections. - -![Skylark website showing credentials](img/Corrections/SparkFun%20NTRIP%20Skylark%201%20-%20Credentials.png) - -Upon creating an account, you'll be issued NTRIP credentials that can immediately be used with Lefebure, SW Maps, or any GIS app that supports NTRIP. - -![Entering credentials into SW maps](img/SWMaps/SparkFun%20NTRIP%20Skylark%202%20-%20SW%20Maps%20Credentials.png) - -*Entering credentials into SW maps* - -The most difficult part of using Skylark for corrections is entering the auto-generated NTRIP Password. While we understand security is important, it's not trivial manually entering these types of credentials into a GIS application. - -![GNSS Status showing positional accuracy](img/SWMaps/SparkFun%20NTRIP%20Skylark%202%20-%20SW%20Maps%20HPA.png) - -*SW Maps showing Positional Accuracy* - -One downside is that with a 'regional' provider such as Skylark the distance to the correction station may be larger than 10km. While we've always gotten an RTK fix, we often see horizontal positional accuracy of ~30mm instead of the 14mm when using our fixed GNSS reference station. Your mileage may vary. - -## Government Provided Corrections - -![Wisconsin network of CORS]() - -*State Wide Network of Continuously Operating Reference Stations (CORS)* - -Be sure to check if your state or country provides corrections for free. Many do! Currently, there are 21 states in the USA that provide this for free as a department of transportation service. Search ‘Wisconsin CORS’ as an example. Similarly, in France, check out [CentipedeRTK](https://docs.centipede.fr/). - -[![UNAVO map](img/Corrections/SparkFun%20NTRIP%204%20-%20UNAVCO%20Map.png)](https://www.unavco.org/instrumentation/networks/status/all/realtime) - -[UNAVCO](https://www.unavco.org/) is a US-based governmental organization that runs a [network of publicly available NTRIP sources](https://www.unavco.org/instrumentation/networks/status/all/realtime). If you're lucky there's a station within 10km (6 miles) of you. - -![Map of European stations](img/Corrections/SparkFun%20NTRIP%206%20-%20EUREF%20Map.png) - -[EUREF](http://www.epncb.oma.be/_networkdata/data_access/real_time/map.php) is a permanent GNSS network in the EU. - -There are several public networks across the globe, be sure to google around! - -## Permanent Base - -![SparkFun Base Station Enclosure](img/Corrections/Roof_Enclosure.jpg) - -*The base station at SparkFun* - -A permanent base is a user-owned and operated base station. See [Creating a Permanent Base](permanent_base.md) for more information. A permanent base has the benefit of being the most accurate, with relatively low cost, but requires at least 24 hours of initial logging and some mechanical setup time (attaching the antenna, connecting a device to the internet, etc). - -## Temporary Base - -[![Temporary RTK Express Base setup]()]() - -*Temporary RTK Express Base setup with serial radio* - -A temporary or mobile base setup is handy when you are in the field too far away from a correction source, or if your measurements do not require absolute accuracy. - -To set up a temporary base, an RTK device is mounted to a tripod and is configured to complete a survey-in (aka, locate itself). It will then begin broadcasting RTCM correction data. This data (~1000 bytes a second) is sent over a data link to one or multiple rovers that can then obtain RTK Fix. - -Any tripod with a ¼” camera thread will work. The [Amazon Basics tripod](https://www.amazon.com/AmazonBasics-Lightweight-Camera-Mount-Tripod/dp/B00XI87KV8) works well enough but is a bit lightweight and rickety. - -Any of the RTK Everywhere products can be set up to operate in **Base** mode. Once the base has been set up with a clear view of the sky, turn on the RTK device. - -![RTK Torch in Survey-In Mode](img/SparkFun_RTK_Torch_On_Tripod.jpg) - -*RTK Torch setup as a base* - -On the RTK Torch, base mode is entered using a [Mode Switch](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/menu_system/#mode-switch) from the System Menu. - -Once the survey is complete the device will begin producing RTCM correction data. If you are using the internal 2.4GHz ESP-Now radios, data will start to broadcast. If you have an NTRIP Server enabled, corrections will be uploaded to the NTRIP Caster of your choosing. - -Note: A mobile base station works well for quick trips to the field. However, the survey-in method is not recommended for the highest accuracy measurements because the positional accuracy of the base will directly translate to the accuracy of the rover. Said differently, if your base's calculated position is off by 100cm, so will every reading your rover makes. For many applications, such as surveying, this is acceptable since the Surveyor may only be concerned with measuring the lengths of property lines or features. If you’re looking for maximum accuracy consider installing a [permanent static base with a fixed antenna](permanent_base.md). We were able to pinpoint the antenna on the top of SparkFun with an incredible accuracy [+/-2mm of accuracy](img/Corrections/SparkFun_PPP_Results.png) using PPP! - -## Other Sources - -There are a large number of networks run throughout the world. Be sure to dig a bit to find a local correction source near you. - -[![Map of RTK2Go Stations](img/Corrections/SparkFun%20NTRIP%205%20-%20RTK2Go%20Map.png)](http://monitor.use-snip.com/?hostUrl=rtk2go.com&port=2101) - -* RTK2go offers a [list](http://monitor.use-snip.com/?hostUrl=rtk2go.com&port=2101) and map (click 'View all' from the list) of stations using their public casting service. While none of these stations have been verified as accurate, it can be a decent starting point to do a 'quick' test of your system. \ No newline at end of file +In the serial terminal menu, pressing a letter will increase or decrease the position of a priority. 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menu, a user can control the output of various NMEA, RTCM, and other messages. Any enabled message will be broadcast over Bluetooth *and* recorded to SD (if available). + +Because of the large number of configurations possible, we provide a few common settings: + +* Reset to Defaults + +RTCM can also be enabled in both Rover and Base modes. + +## Reset to Defaults + +This will turn off all messages and enable the following messages: + +* NMEA-GGA, NMEA-GSA, NMEA-GST, NMEA-GSV, NMEA-RMC + +These five NMEA sentences are commonly used with SW Maps for general surveying. + +## Individual Messages + +![Configuring the NMEA messages]() + +*Configuring the NMEA messages* + +There are a large number of messages supported (listed below). Each message sub-menu will present the user with the ability to set the message report rate. + +Each message rate input controls which messages are disabled (0) and how often the message is reported (1 = one message reported per 1 fix, 5 = one report every 5 fixes). The message rate range is 0 to 20. + +**Note:** The message report rate is the *number of fixes* between message reports. In the image above, with GSV set to 4, the NMEA GSV message will be produced once every 4 fixes. Because the device defaults to a 4Hz fix rate, the GSV message will appear once per second. + +The following messages are supported for Bluetooth output and logging (if available): + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
• NMEA-DTM• NMEA-GBS• NMEA-GGA
• NMEA-GLL• NMEA-GNS• NMEA-GRS
• NMEA-GSA• NMEA-GST• NMEA-GSV
• NMEA-RMC• NMEA-ROT• NMEA-THS
• NMEA-VTG• NMEA-ZDA
• RTCM3x-1001• RTCM3x-1002• RTCM3x-1003
• RTCM3x-1004• RTCM3x-1005• RTCM3x-1006
• RTCM3x-1007• RTCM3x-1009• RTCM3x-1010
• RTCM3x-1011• RTCM3x-1012• RTCM3x-1013
• RTCM3x-1019• RTCM3x-1020• RTCM3x-1033
• RTCM3x-1042• RTCM3x-1044• RTCM3x-1045
• RTCM3x-1046• RTCM3x-1071• RTCM3x-1072
• RTCM3x-1073• RTCM3x-1074• RTCM3x-1075
• RTCM3x-1076• RTCM3x-1077• RTCM3x-1081
• RTCM3x-1082• RTCM3x-1083• RTCM3x-1084
• RTCM3x-1085• RTCM3x-1086• RTCM3x-1087
• RTCM3x-1091• RTCM3x-1092• RTCM3x-1093
• RTCM3x-1094• RTCM3x-1095• RTCM3x-1096
• RTCM3x-1097• RTCM3x-1104• RTCM3x-1111
• RTCM3x-1112• RTCM3x-1113• RTCM3x-1114
• RTCM3x-1115• RTCM3x-1116• RTCM3x-1117
• RTCM3x-1121• RTCM3x-1122• RTCM3x-1123
• RTCM3x-1124• RTCM3x-1125• RTCM3x-1126
• RTCM3x-1127
diff --git a/docs/menu_network.md b/docs/menu_network.md deleted file mode 100644 index 2f976eaba..000000000 --- a/docs/menu_network.md +++ /dev/null @@ -1,25 +0,0 @@ -# Network Menu - -Torch: ![Feature Supported](img/Icons/GreenDot.png) - -**PVT** stands for position, velocity, and time. It encapsulates a handful of NMEA messages that fully describe the unit's PVT. PVT data is generally consumed by a GIS application or Data Collector. These messages can be transmitted over a variety of transport methods. This section focuses on delivery via TCP and UDP. - - The PVT Client sits on top of the network layer and sends position data to one or more computers or cell phones for display. - -![Network Menu showing various PVT Client and Server options]() - -*Network Menu showing various PVT Client and Server options* - -## PVT Client and Server - -The RTK device supports connection over TCP. Some Data Collector software (such as [Vespucci](gis_software.md#vespucci)) requires that the SparkFun RTK device connect as a TCP Client. Other software (such as [QGIS](gis_software.md#qgis)) requires that the SparkFun RTK device acts as a TCP Server. Both are supported. - -**Note:** Currently TCP is only supported while connected to local WiFi, not AP mode. This means the device will need to be connected to a WiFi network, such as a mobile hotspot, before TCP connections can occur. - -![TCP Port Entry](img/WiFi%20Config/SparkFun%20RTK%20Config%20-%20TCP%20Port.png) - -If either Client or Server is enabled, a port can be designated. By default, the port is 2947 (registered as [*GPS Daemon request/response*](https://tcp-udp-ports.com/port-2948.htm)) but any port 0 to 65535 is supported. - -## PVT UDP Server - -PVT can also be sent via UDP rather than TCP. If enabled, the PVT UDP Server will begin broadcasting NMEA data over the specific port (default 10110). diff --git a/docs/menu_pointperfect.md b/docs/menu_pointperfect.md index 5211f11f5..ad1dee4fc 100644 --- a/docs/menu_pointperfect.md +++ b/docs/menu_pointperfect.md @@ -14,7 +14,7 @@ SparkFun RTK devices are equipped to get corrections from a service called Point PointPerfect has the following benefits and challenges: -* Most SparkFun RTK devices come with either a pre-paid subscription or one month of free access to PointPerfect. Please see the product details for your device. [Go here](https://www.sparkfun.com/pointperfect) to enable or renew your subscription. +* Most SparkFun RTK devices come with either a pre-paid subscription or one month of free access to PointPerfect. Please see the product details for your device. [Go here](https://www.sparkfun.com/rtk_torch_registration) to enable or renew your subscription. * A SparkFun RTK device can obtain RTK Fix anywhere there is [coverage](https://www.u-blox.com/en/pointperfect-service-coverage). This includes the US contiguous 48 states, the EU, Korea, as well as parts of Australia, Brazil, and Canada. Note: L-Band coverage is not available in some of these areas. * You don't need to be near a base station - the PPP-RTK model covers entire continents. * Because PointPerfect uses a model instead of a dedicated base station, it is cheaper. However, the RTK Fix is not as accurate (3-6cm) as compared to getting corrections from a dedicated base station (2cm or better but depends on the baseline distance). @@ -26,6 +26,14 @@ PointPerfect corrections are obtained by two methods: * **IP**: Corrections are transmitted over the internet. The RTK device will need access to a WiFi network. This is most commonly a hotspot on a cell phone so this delivery method is generally confined to areas with cellular and/or WiFi coverage. +## Registration + +![Three stickers showing Device ID and QR code to registration page]() + +*Three stickers showing Device ID and QR code to registration page* + +All SparkFun RTK products must be registered before they are allowed on the PointPerfect network. To facilitate this, most products ship with a printed Device ID sticker and registration QR code included with the product. The QR code will prefill the registration page with the device's unique ID. If you do not have these materials, don't worry! Please visit the [registration page](https://www.sparkfun.com/rtk_torch_registration) and [obtain your device ID](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/menu_pointperfect/#obtaining-the-device-id) through the software interface. + ## Keys To gain access to the PointPerfect system, the device must be given WiFi. Once provided, the RTK device will automatically obtain **keys**. These keys allow the decryption of corrections. @@ -56,7 +64,7 @@ The *Days until keys expire* inform the user how many days the unit has until it * **3** - Trigger an immediate attempt to connect over WiFi and provision the device (if no keys are available) or update the keys (if provisioning has already been completed). -* **4** - Display the Device ID. This is needed when a SparkFun RTK device needs to be added to the PointPerfect system. This is normally taken care of when you purchase a product that includes a PointPerfect subscription. But for customers who wish to extend their subscription beyond the initial year, or did not purchase the service and want to add it at a later date, this Device ID is what customer service needs. +* **4** - Display the Device ID. This is needed when a SparkFun RTK device needs to be added to the PointPerfect system. This is needed when first registering the device, or modifying a subscription. [Go here](https://www.sparkfun.com/rtk_torch_registration) to manage subscriptions. * **c** - Clear the current keys. @@ -64,7 +72,7 @@ The *Days until keys expire* inform the user how many days the unit has until it ## Obtaining the Device ID -The device ID is unique to each RTK device and must be entered by SparkFun into the PointPerfect network (also known as whitelisting). +The device ID is unique to each RTK device and must be entered by SparkFun into the PointPerfect network. ![Device ID within the serial menu]() @@ -108,7 +116,7 @@ This message is seen when no WiFi network credentials (SSID and password) have b This device is not whitelisted. Please contact support@sparkfun.com to get your subscription activated. Please reference device ID: [device ID] -This message is seen whenever the PointPerfect service is not aware of the given device. Please use the [subscription form](https://www.sparkfun.com/pointperfect) or contact support@sparkfun.com with your device ID (see [Obtaining the Device ID](menu_pointperfect.md#obtaining-the-device-id) above). +This message is seen whenever the PointPerfect service is not aware of the given device. Please use the [subscription form](https://www.sparkfun.com/rtk_torch_registration) or contact support@sparkfun.com with your device ID (see [Obtaining the Device ID](menu_pointperfect.md#obtaining-the-device-id) above). ### Device Deactivated diff --git a/docs/menu_tcp_udp.md b/docs/menu_tcp_udp.md new file mode 100644 index 000000000..ca530c5b2 --- /dev/null +++ b/docs/menu_tcp_udp.md @@ -0,0 +1,23 @@ +# TCP/UDP Menu + +Torch: ![Feature Supported](img/Icons/GreenDot.png) + +NMEA data is generally consumed by a GIS application or Data Collector. These messages can be transmitted over a variety of transport methods. This section focuses on the delivery of NMEA messages via TCP and UDP. + + ![TCP/UDP Menu showing various TCP/UDP Client and Server options]() + +*TCP/UDP Menu showing various Client and Server options* + +## TCP Client and Server + +The RTK device supports connection over TCP. The TCP Client sits on top of the network layer and sends position data to one or more computers or cell phones for display. Some Data Collector software (such as [Vespucci](gis_software.md#vespucci)) requires that the SparkFun RTK device connect as a TCP Client. Other software (such as [QGIS](gis_software.md#qgis)) requires that the SparkFun RTK device acts as a TCP Server. Both are supported. + +**Note:** Currently TCP is only supported while connected to local WiFi, not AP mode. This means the device will need to be connected to a WiFi network, such as a mobile hotspot, before TCP connections can occur. + +![TCP Port Entry](img/WiFi%20Config/SparkFun%20RTK%20Config%20-%20TCP%20Port.png) + +If either Client or Server is enabled, a port can be designated. By default, the port is 2947 (registered as [*GPS Daemon request/response*](https://tcp-udp-ports.com/port-2948.htm)) but any port 0 to 65535 is supported. + +## UDP Server + +PVT can also be sent via UDP rather than TCP. If enabled, the UDP Server will begin broadcasting NMEA data over the specific port (default 10110). diff --git a/mkdocs.yml b/mkdocs.yml index 3a044cf4c..99a4573f8 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -141,15 +141,16 @@ nav: - menu_messages.md - menu_base.md - menu_wifi.md - - menu_network.md + - menu_tcp_udp.md - menu_firmware.md - - menu_userprofiles.md - - menu_radios.md - - menu_ports.md - - menu_data_logging.md + - menu_corrections_priorities.md - menu_pointperfect.md + - menu_radios.md - menu_system.md - menu_tilt.md + - menu_userprofiles.md + - menu_data_logging.md + - menu_ports.md - menu_ethernet.md - menu_ntp.md - Hardware: