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Ocean Exploration Lab
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Приєднався 18 гру 2020
ESP32 based RTK Rover
This guide provides detailed instructions on setting up an RTK rover using ESP32 XBee and the Unicore UM980 or UM982 GNSS module, to achieve centimeter-level satellite positioning via an NTRIP caster.
List of Commands:
---------------------------------------------------------------------------------------------------------------------------------------------------------
FRESET (Factory reset to start with a blank sheet)
CONFIG SIGNALGROUP 2 (for UM980)
CONFIG SIGNALGROUP 3 6 (for UM982)
MODE ROVER UAV
CONFIG RTK TIMEOUT 60 (maximum age of RTK data)
CONFIG RTK RELIABILITY 3 1
GNGGA 1 (request time, position, and fix related data)
GNGSV 1 (request number of satellites in view)
SAVECONFIG (Save Configuration into non-volatile memory)
---------------------------------------------------------------------------------------------------------------------------------------------------------
Links:
RTK Playlist: ua-cam.com/play/PLlxhE8mLdQdHq4C_DjIz_UhQR9dJWjFJM.html&si=E7PzqSZXqBDXVjPj
ESP32 on AliExpress: www.aliexpress.us/item/3256807009086106.html?spm=a2g0o.order_list.order_list_main.107.47651802UxWMnd&gatewayAdapt=glo2usa
ESP32 XBee Software on GitHub: github.com/nebkat/esp32-xbee
ESP32 XBee setup guide: www.ardusimple.com/wifi-ntrip-master-hookup-guide/
rtk2go.com: rtk2go.com/
RTK2go map: monitor.use-snip.com/?hostUrl=rtk2go.com&port=2101
RTK2go status: www.rtk2go.com:2101/SNIP::STATUS
Mississippi GCGC Real-Time Network: vrsnet.gcgcusm.org/
List of Commands:
---------------------------------------------------------------------------------------------------------------------------------------------------------
FRESET (Factory reset to start with a blank sheet)
CONFIG SIGNALGROUP 2 (for UM980)
CONFIG SIGNALGROUP 3 6 (for UM982)
MODE ROVER UAV
CONFIG RTK TIMEOUT 60 (maximum age of RTK data)
CONFIG RTK RELIABILITY 3 1
GNGGA 1 (request time, position, and fix related data)
GNGSV 1 (request number of satellites in view)
SAVECONFIG (Save Configuration into non-volatile memory)
---------------------------------------------------------------------------------------------------------------------------------------------------------
Links:
RTK Playlist: ua-cam.com/play/PLlxhE8mLdQdHq4C_DjIz_UhQR9dJWjFJM.html&si=E7PzqSZXqBDXVjPj
ESP32 on AliExpress: www.aliexpress.us/item/3256807009086106.html?spm=a2g0o.order_list.order_list_main.107.47651802UxWMnd&gatewayAdapt=glo2usa
ESP32 XBee Software on GitHub: github.com/nebkat/esp32-xbee
ESP32 XBee setup guide: www.ardusimple.com/wifi-ntrip-master-hookup-guide/
rtk2go.com: rtk2go.com/
RTK2go map: monitor.use-snip.com/?hostUrl=rtk2go.com&port=2101
RTK2go status: www.rtk2go.com:2101/SNIP::STATUS
Mississippi GCGC Real-Time Network: vrsnet.gcgcusm.org/
Переглядів: 898
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This helps so much! I was struggling with bridging orientation control
cool
I plan to purchase UM980. Which one would you suggest? I've heard there is a heat problem with the one from AliExpress. Any problems with your UM980 GNSS module? Thanks
None. Also, this is the only one I tested, so no suggestions otherwise.
This series has been great! I’ve set up my base and had it online for a couple weeks now. I want to set up and build a survey stick rover next. I have ordered the parts and am awaiting them. I’m not sure yet how to get the rover points saved and plotted on a map. I’m thinking about using the sw maps app on my phone to do this. I would like to be able to save two points then generate a line between them. Once I have the line I want to use the rover to locate that line in the field. In order to use the rover in sw maps it must be connected to the phone with Bluetooth. Any chance you will be covering this in future videos? Thanks again for all the help so far!
It sounds like an exciting project. I have no current plans to create a video about waypoints, but ArduPilot is a tool you want to look into.
thank you!
Welcome!
Can we able to send RTCM Corrections between base and rover ESP32s with wifi or Bluetooth. and Remove the need for RTK2go? Process will be more simpler. Anyway this video helped me a lot, thankyou for doing this
Certainly, you can use the UDP/TCP socket functionality of the XBee for that purpose. I intend to publish a video on this topic shortly.
@@oceanexplorationlab absolutely please do and 1 more thing, with 982 and 2 antennas utilized can the rover determine altitude and axis rotation. I want this data for ROS in raspberry pi for SLAM. Ras pi is onboard on UAV. Thankyou.
Incredibly useful series! My UM980 just came in today, looking forward to trying it out!
Thanks, have fun
Excellent presentation series of these type of gnss. I would like to ask if possible to explain how to do PostProcessingKinematics (PPK) eg. what messages we need to enable etc.
Once I figure it out, I plan to make a video on it.
What a great video. Thank you very much for taking the time and trouble to explain the setting up of these units. I bought a UM980 to use with Onocoy. However, until I get my antenna mounted on my roof, I want to experiment with using the UM980 as a Rover. I get so far but cannot get an RTK fix after connecting to my local mount point (RectoryFarm on rtk2go). After start-up the unit will switch to RTK float mode, but even after several hours, RTK fixed is not achieved. if you have any pointers, I would be very pleased to hear them. Thanks again.
How far away is it RectoryFarm from your location? If the station is too far, you might want to consider lowering the certainty level of the RTK solution using the following command: CONFIG RTK RELIABILITY 3 1. The default is 3, and lower numbers indicate a less reliable but acceptable RTK solution. Also, once you have your own base station up and running, please let me know the name of your new station. I'm planning to compile a list of all the base stations that come to life because of this video series.
@@oceanexplorationlab Many thanks for the reply. I'll check the distance between myself and RectoryFarm. I'll also try lowering the reliability setting. Yes, I'll let you know when I get up and running.
@@oceanexplorationlab RectoryFarm is 26km away from my location in a straight line.
Hello! I had experimented several disconnections when streaming data with ESP_Xbee. Do you know what could be the issue? I switched to Str2Str and have not drop connection so far. Anyway, ESP32 y far more easy to setup and way more cheaper as well- Thanks in advance
Thanks for sharing your experience. Other than the obvious things like checking your power supply and Wi-Fi signal strength, I’m not sure what else could be causing the disconnections-it's hard to troubleshoot from afar! Personally, I haven't had any frequent disconnections with my ESP32 Xbee setup, but every situation is a bit different.
This option is just some kind of stupidity. What is ESP 32 here for, what would that be?(only receive corrections and do not use them any further) If for some RC model, the GNSS module is connected directly to the autopilot(Ardupilot, PX4, etc.) For the rover, it is enough to connect the Bluetooth module and use the app on your phone/tablet.
While your application might not need an ESP32 if you're getting the RTCM stream via an autopilot, in the absence of a more advanced autopilot, the ESP32 is actually a perfectly fine solution to receive the necessary correction data and send it to the UM980. For a survey and plotting positions on a map, there's no need for an autopilot. I'm not sure why you say it isn't used-it's specifically there to handle the corrections. Also, there's no need for dismissive language-we're all here to learn and share knowledge.
Hi, great video! Is there any software that will allow me to navigate to know coordinates using my own rover? Let's say I know coordinates of the point were corner of my fence should be and I want to use my rover to find that?
Thanks for watching! A popular option is Ardupilot which allows you to input waypoints, like the coordinates for your fence corner, and it will guide your rover to that exact location.
Ive been looking for a tutorial this informative for so long
Thank you, I'm glad you found what you were looking for.
@@oceanexplorationlab I hope you have more tutorials on creating libraries
Watching your videos over and over hopefully this total noob can make this work! Thanks for your content! 👍
Fantastic! I try to make this as noob-friendly as possible. Let me know if you get stuck.
@@oceanexplorationlab Stuck - no power on esp32 unsure what the 3v3 is suppose to be connected to? No red power light when the um980 is connected to laptop. I must have something wrong on the breadboard.
@@whiskerrub3821 If you follow the provided diagram and omit the LEDs, nothing will be connected to the 3.3V pins on the ESP. Power will be supplied from the UM980 module to the 5V pins on the ESP32. Ensure your individual components function properly when connected to USB. If they are still working, you should be fine.
@@oceanexplorationlab Ok so try omitting the LEDS? I was unsure how you connected the wires beneath the esp32, definitely I have a lot to learn.
@@whiskerrub3821 Leaving out the LEDs initially reduces the potential for errors. Once the ESP is powered up and you've confirmed that the other wires are correctly connected, you can then reinstall the LEDs.
Great series. I just ordered my 980 chip and antenna for my base station. I’m looking forward to experimenting with various rover projects I have in mind
Have fun!
Can you tell exactly what devices you purchased and how much you spent?
@@kuwerty2kuwerty23 Sure I purchased EM-980D1 Unicorecomm Multi-frequency High Precision RTK Positioning GNSS Module GPS BDS GLONASS Galileo UM980 Replace ZED-F9P both were approx. $169 USD. I have to order a another one for my rover but I wanted to get the base station up and working first.
Thank you can you make a video showing how to connect Bluetooth and SD card, also can the module be programed through esp32 or mobile app
Programming the module through a mobile app is possible in principle, but I have no immediate plans to do so. Please let us know if you find a way. The same applies to the other two questions.
Amigo una pregunta a este modulo se le puede adaptar un radio lora para corrección atraves de radio ?
It sure is. It is a simple UART.
next this config with GNGSV 1 i cant see satellites on constellation map
this is the commands launched freset config signalgroup 2 mode base 60 2 2 5 GNGSV 1 unlog rtcm1005 30 rtcm1033 30 rtcm1077 1 rtcm1087 1 rtcm1097 1 rtcm1127 1 saveconfig
i try don't use unlog but the satellite map not working!
you may be missing the GNGGA 1 command
@@oceanexplorationlab thanks
hi , i try mode base 60 2 2 5 but my um980 send message "fixed position is not correct" , need to put: mode base time 60 2 2 5 ?
next send:MODE BASE TIME 60 the message is disappeared
mode base 60 2 2 5 is wrong conf! the correct conf is: mode base time 60 2 2.5
i want more of 2m of precision is possible put 1mm? like mode base time 60 0.001 2.5
I believe there is a misunderstanding regarding the command. In the command: `mode base time 60 2 2.5`: `60` is the time in seconds that all fixes obtained by the UM982 must remain within an area of horizontal and vertical precision. `2` is the horizontal precision in meters that all fixes must meet to declare the survey complete. `2.5` is the vertical precision required for all fixes to complete the survey. If the previously saved position is within these ranges, the station coordinates stored in flash memory will be used; otherwise, the position in flash memory will be updated. By the way, a 1mm precision in positioning is unrealistic.
@@oceanexplorationlab why is centimetric precision? in the datasheet tell of 0.8cm
$command,uniog,response: PARSING FAILD NO MATCHING FUNC UNIOG*60
typo! UNLOG not UNIOG
$command,config signalgroup 2,response: PARSING FAILD GRAMMAR ERROR,*06
are you using UM982?
Please do a video showing the dual NTRIP.
coming soon
Thank you !
Welcome!
Well done ! Please do a video showing the dual NTRIP.
coming soon
Good afternoon. Thanks for the video. Can I transmit the correction signal from UM980 to UM982 via Sik radio?
I don't see why not
@@oceanexplorationlab thank you. I'll try
You're a legend bro, super helpful thank you
That is high praise. Thank you!
Whenever I try to add VTR to the file it crashes, and if I don't, the geotif is not created georeferenced.... But the referencing bit worked beautifully, thanks!
I'm glad to hear the referencing part worked well for you. However, I'm not entirely sure what you mean by "VTR." Could you provide more details? I'll pin this comment to the top so that someone else might be able to provide a solution. Thanks for your feedback!
@@oceanexplorationlab FIRST of all, my TYPO. The correct check-box is VRT (and not vtr). My bad!! It is a click box on the top right side of the SAVE RASTER LAYER AS , beside the format (GeoTiff), a tick-box that reads "Create VRT"; and it is responsible for creating the .worldfile definition so that the saved image can be recognised as geotiff and open on the right spot inside a CAD, GIS, etc program
it seems to be a general issue with lots os users being unable to save GeoTiffs in QGIS. I currently usa SAGA GIS to save the GeoTiFFs because I cannot do it inside QGIS. I have tried every tutorial including ones with "custom" save file options , such as tweaking compression, creating .wtf company file etc
By 'OS,' do you mean macOS? In other words, are you running QGIS on a Mac?
@@oceanexplorationlab No. Windows in my case.
where can i find software for these receivers to update it?
Good question, I have been wondering myself. I reached out to wit-motion regarding firmware upgrades. I will let you know once I hear back.
Turns out you must request the firmware from Witmotion and provide proof of purchase.
@@oceanexplorationlab What is your firmware version?
@@oceanexplorationlab I have the UM982_R4.10 version for this receiver. WitMotion has provided me with it to ensure that the module wasn't faulty.
Thank you from your time, very good videos, can you show us how to connect Bluetooth module to um980
I'm sure there are various options to achieve that. However, I haven't come across an open-source project specifically using the ESP32 for sending RTCM correction data via Bluetooth. It would definitely be a good option to connect to a computer. The Wi-Fi option I'm currently investigating is quite power-hungry but has the advantage of a longer range.
Very good information again. If I understand this correctly. If I want to send correction data ONLY to MY Rover I do not need to setup a RTK2go account. My ESP32 board will be my local RTK Base...Correct?
I believe so. I haven't done it myself, but take a look at the XBee hookup guide for the various options: www.ardusimple.com/wifi-ntrip-master-hookup-guide/
@@oceanexplorationlab Very good link. Thank You.
In the video, I did not use the saveconfig command at the end of the setup sequence. Make sure to use it at the end of your setup! Otherwise, the setup will be lost if you restart the UM98X module.
Really helpful!
Glad it was helpful!
Thank your much, please continue would good good to see how you connect to esp32
that's still the plan
In theory one could use this to create ground control points at a fraction of the cost of existing RTK bases and rovers correct? Would love an example of that workflow to see just how one would go about doing that.
By the end of this series, I hope to have all the pieces in place to accomplish that. You're absolutely right-using this setup, one could create ground control points at a fraction of the cost of existing RTK bases and rovers. Make sure to like and subscribe so you don't miss anything!
wow Nice ! Thank you !
Welcome!
Saw your introductory video a couple of weeks back and bought a module myself. Thanks and good work.
Great to hear! I hope to have the Rover video up over the weekend. Let me know how it goes.
Very Helpful thank U!
You're welcome!
Great! I also own this pair of GPS receivers but haven't had time to experiment yet... Your video is very useful as "getting started". I'm looking forward to the next ones :)
Glad it was helpful!
Hello, your video is very good, congratulations on the tutorials. Can you tell me how to activate the GNSS um980 in ppp mode E6-Has?
108 / 5,000 I haven't figured out the PPP myself jet. But when I do I plan to make a tutorial. Thanks for the suggestion
At the beginning of the summer, firmware for the um980 was released, which has this feature. The activation command is in the instructions for the modules.
Thanks for taking some of the magic from this process. It's hard to begin a project without directions like this. Thank you for sharing.
Cool. I'm working on the next video right now. Let me know when/if you start your setup and how it goes.
Very good introduction. Will be watching from Texas.
Awesome! Thank you!
T hank you!
Thanks for the comment
Thank you, very intreresting
Glad you enjoyed it
??? Last week, I just paid $15,500 for a GPS + Monito data collector. For another, is this something I could build? I've got a little electronics and programming experience.
Absolutely, by the end of the series, I hope to have provided step-by-step instructions on how to build and set up the base/rover RTK solution. The module I am using is an L1/L2/L5 triple-band system. I'm not sure what your $15k setup adds to this and what your requirements are. The video on how to set up the base should be out next week. Let me know if you decide to follow along. Cheers!
Great intro and definitely going to be looking forward to more videos etc. Maybe work on your mic setup a bit?
Working on it!
I have referred back to this video a couple times, good info. Well done.
Awesome, thank you!
Thank you so much for this video. Very informative and to the point. I cannot thank you enough !
Glad it was helpful!
Great job, thank you very much!! Everything works with QGIS 3.32 as well.
Thanks, it's good to know it still works with new visions
For sure you are NOT wasting people's time - not at all ! I think "saying clearly what you do" and then "do it so people can follow" is the path to go ... you did it all at once and very fast ;-) But I picker something up anyway - THX !
Thanks for that!
This was very Helpful! Ty