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  • Jesus A November 26, 2015 at 3:09pm
    I don't fully understand why ardu- (plane, copter, rover) begin to support a proprietary vines protocol from Septentrio while dropping more and more support for open standard NMEA.

    A lot of different boards and solutions like Reach and others are capable at the very least to output extended NMEA which informs about RTK fix quality etc.

    IMHO ardu-community should fully support extended NAMES in order to allow for a wide number of solutions.
  • Stijn Debecker November 26, 2015 at 3:00pm

    Michael, like Jesus A. said the rover costs around 5K. I don't have experience with using a normal Survey Grade GPS as base station. We don't use a local base station. We use NTRIP, in Belgium different reference stations are spread and they send correction data (RTCM) to our laptops. 

  • Cliff-E November 26, 2015 at 8:13am

    How long was your survey time on the base station? That's one of our annoyances with RTK since we weekly move to different locations (portable NovAtel system here) for testing. We're developing against the LEA-[x]T series and RTKLIB and computer at this point. We typically run 30min minimum.

    I'm assuming that the navspark setup is basically an all-in-one rover [board], just get a wireless connection to get RTCM from the base and viola, sub cm gps data comes out of it? Does the board gracefully handle cycle slip onboard (biggest concern with flying around trees), or is that passed onto the INS/EKF solution?

    Our novatel base station and rover cost around 8K... each. We got the rover for our non-flying projects, e.g. larger vehicles. Hoping to get our Ublox setup out of prototype stage and running on the drones this year. It's nice having the matching rover unit--super easy to setup, but dang huge for a UAV.

  • Jesus A November 26, 2015 at 5:05am
    Septentrio asterx-m is in the order of 5k if I remember well.

    Rtk is going to be used everywhere in the future. In fact if you have gsm onboard you can just use CORS network in your country
  • dr.zhao November 26, 2015 at 4:32am

    Thanks Stijn for your answer.

    As the title of this topic indicates, I guess this will be improved in ArduCopter 3.4. Any body has more detail? 

  • Stijn Debecker November 26, 2015 at 4:15am

    Indeed, I adapted the ArduCopter3.3 code to make use from the GPS altitude. When the GPS status switches from 3D Fix to 3D Fix RTK I use the heigth measurements from the GPS instead of those from the barometer.

  • dr.zhao November 26, 2015 at 4:01am

    Stijn,

    ArduCopter 3.3's EKF does not use GPS's altitude. It uses the barometer's altitude instead. Could you please tell more how the GPS's altitude is used?

  • Michael Papenhagen November 26, 2015 at 2:49am

    Hi Stijn,

    How much does the Rover cost? Will I be able to use a normal Survey Grade GPS (i.e. Leica, Topcon, Trimble, etc.) as a Base?

    Regards

    Michael

  • Stijn Debecker November 26, 2015 at 2:34am

    Hi Michael, 

    We use NTRIP as base station: RTCM messages are sended to my laptop by using internet and a telemetry module sends these messages to the rover. 

    It is possible to set up a local base station, septentrio has these but they are expensive ( I think around 10000 USD).

    We collaborate with septentrio, it's a company in our backyard ;). 

    Regards,

    Stijn.

  • Michael Papenhagen November 26, 2015 at 2:14am

    We did a Topographical Survey up in the mountains for a Wind Turbine farm and placing the Ground Control Points took us nearly 3 weeks and the flying part took us 2 days! So even if the system costs $2000  and it works, it will be worthwhile the investment.

    Regards

    Michael

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