|Subject:||Re: [Paparazzi-devel] GPS RTK|
|Date:||Wed, 2 Oct 2013 19:41:08 +1000|
Progress towards DGPS with uBlox modules is going OK. Using raw output from e.g. neo6t module as the fixed groundstation, generating RCTM 2 and sending it to various NEO and LEA rovers.
Current status is that it works quite well most of the time, but there is at least one serious bug (occasional episodes of very poor performance). There hasn't been a commit for a while but it's still being worked on. One theory is that bug is in the uBlox firmware side (RCTM 2 handling code).
Performance of RCTM 2 augmented GPS is approximately equal to SBAS at it's best, carrier-phase corrected but not comparable to RTK or heavily post-processed statistical techniques used by surveyors. We don't get SBAS in Australia yet, so it's a big improvement for us. (although it may be available soon, when the next Japanese satellite is launched).
The piksi looks really cool (we are backing it) but I think it's a long way from providing a usable RTK solution. The problem with implementing your own RTK is that you would have to reproduce a large proportion the gps firmware stack, which presumably has a lot of heuristic tricks that make it work better. My guess is "the last 10%" will be really hard, but I'd be happy to be wrong about that.
Sending RCTM 2 over telemetry (telecommand) should be quite practical, it's not very high bandwidth. It's precision is limited by message length not bandwidth.
On 02/10/2013, at 6:27 PM, "Prof. Dr.-Ing. Heinrich Warmers" <address@hidden> wrote:
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