How to build my own DGPS


I'm trying to build an autonomous Qudrotor that will use DGPS to get accurate possition.

I'm using the "Mikrokoper" body and the Gluonpilot controller.

I have two "Trimble Lassen IQ" GPS receivers. I've find out that those cards are capable of outputting the raw data  and can get RTCM SC-104.

Actually I don't know where to start to I'll start with a few quastions:


1) If the GPS receiver can get RTCM SC-104 signals, does it means that if I will create such signal using the raw data from the base station, the rover's card would do the correction by himself?


2) How can I create RTCM correction message from the base station raw data? Is it possible to do it?


3) In case that the above steps are too complicate to achieve, what kind of GPS receivers are

recommending to  build a DGPS?  What kind of communication is recommending to  transmit the GPS data from the base station to the rover? (XBee will work?)





You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


  • Hey friend, i am little confuse about this question but i think i have some solutions to share, we can see at this website may be it's helpful, what i find is, we can make our own radio station and from here we can radio stations with using advance technology. I hope it will solve your and many people who wants to find this types of information's.

    • HEllo lokendra kharel ji. 

      Ma tapai sanga k hi kura garnu thiyo DGps ko barema?? ma tapailai personally kasari kura garna sakchu. 

      my email 

  • Hi Lior,

    Hope you have solved Trimble iQ lassen raw data output.
    I started programming it but no success at moment.

    take a look on this thread:



  • Also, take a look at RTKLib ( which is a library for computing precision (<1 cm) position solutions from raw data received from more than one GPS receiver.

    Hope this helps,


    RTKLIB: An Open Source Program Package for GNSS Positioning
  • I had previously commented on Tom Kent's page to the effect that some amateur radio folks put together a DGPS reference station a while back using Motorola Oncore GPS, which the UT+ model supported "site survey" mode. A survey took about 3 hours but then you had your own reference.
    You can still find the HW docs here:
    and the DGPS C (RTCM) code here:   Control software with site survey mode is here:
    You can also find these old GPS units on ebay, you are probably better off with something newer.  I plan to use Ublox LEA-6T-0 (precision timing, 5Hz,raw data available for RTCM) for the base station, and probably LEA-6S or -6A for the rover.

    • Hi Darryl,

      I realise you posted this a long time ago but it's relevant to what I'm doing now. I recently acquired a LEA6T-0 chip (with the evaluation kit) and have managed to get coordinates to within 40cm of reference points with post processing of regional correction data available in my country. 

      How did you get on with yours? Did you ever get into real time corrections going? I'm interested in using this chip as a base to generate my own on-site correction data, and feed that wirelessly to my UAV. 



This reply was deleted.


DIY Robocars via Twitter
RT @chr1sa: Just a week to go before our next @DIYRobocars race at @circuitlaunch, complete with famous Brazilian BBQ. It's free, fun for k…
19 hours ago
DIY Robocars via Twitter
How to use the new @donkey_car graphical UI to edit driving data for better training
Nov 28
DIY Robocars via Twitter
RT @SmallpixelCar: Wrote a program to find the light positions at @circuitlaunch. Here is the hypothesis of the light locations updating ba…
Nov 26
DIY Robocars via Twitter
RT @SmallpixelCar: Broke my @HokuyoUsa Lidar today. Luckily the non-cone localization, based on @a1k0n LightSLAM idea, works. It will help…
Nov 25
DIY Robocars via Twitter
@gclue_akira CC @NVIDIAEmbedded
Nov 23
DIY Robocars via Twitter
RT @luxonis: OAK-D PoE Autonomous Vehicle (Courtesy of zonyl in our Discord:
Nov 23
DIY Robocars via Twitter
RT @f1tenth: It is getting dark and rainy on the F1TENTH racetrack in the @LGSVLSimulator. Testing out the new flood lights for the racetra…
Nov 23
DIY Robocars via Twitter
RT @JoeSpeeds: Live Now! Alex of @IndyAChallenge winning @TU_Muenchen team talking about their racing strategy and open source @OpenRobotic…
Nov 20
DIY Robocars via Twitter
RT @DAVGtech: Live NOW! Alexander Wischnewski of Indy Autonomous Challenge winning TUM team talking racing @diyrobocars @Heavy02011 @Ottawa…
Nov 20
DIY Robocars via Twitter
Incredible training performance with Donkeycar
Nov 9
DIY Robocars via Twitter
RT @JoeSpeeds: Sat Nov 6 Virtual DonkeyCar (and other cars, too) Race. So bring any car? @diyrobocars @IndyAChallenge…
Oct 31
DIY Robocars via Twitter
RT @JoeSpeeds: @chr1sa awesomely scary to see in person as our $1M robot almost clipped the walls as it spun at 140mph. But it was also awe…
Oct 29
DIY Robocars via Twitter
RT @chr1sa: Hey, @a1k0n's amazing "localize by the ceiling lights" @diyrobocars made @hackaday! It's consistently been the fastest in our…
Oct 25
DIY Robocars via Twitter
RT @IMS: It’s only fitting that @BostonDynamics Spot is waving the green flag for today’s @IndyAChallenge! Watch LIVE 👉…
Oct 23
DIY Robocars via Twitter
RT @IndyAChallenge: Congratulations to @TU_Muenchen the winners of the historic @IndyAChallenge and $1M. The first autonomous racecar comp…
Oct 23
DIY Robocars via Twitter
RT @JoeSpeeds: 🏎@TU_Muenchen #ROS 2 @EclipseCyclone #DDS #Zenoh 137mph. Saturday 10am EDT @IndyAChallenge @Twitch
Oct 23