Configure an RTK GPS Correction Source

The rtk-station movement sensor model is an experimental model that you can use to configure your own correction source for an RTK-ready GPS.

The experimental rtk-station model allows you to configure your own correction source. This does not provide any movement sensor data on its own, but can be linked to an RTK-ready GPS module on a moving robot and send that robot correction data over your own network, radio, or Bluetooth in areas where internet connectivity is limited, or where an NTRIP server is unavailable. We have implemented this in a way that does not rely on an internet connection to get correction data for a moving GPS.

For all of the following RTK-station configurations, children is the list of one or more other GPS components that can take RTCM corrections.

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and navigate to the Create component menu. Enter a name for your movement sensor, select the movement-sensor type, and select the rtk-station model.

Click Create Component

Creation of a rtk-station movement sensor in the Viam app config builder.

Edit and fill in the attributes as applicable.

{
  "components": [
    {
      "name": "<your-sensor-name>",
      "type": "movement_sensor",
      "model": "rtk-station",
      "attributes": {
        "board": "<your-board-name>",
        "children": [
          <list of children>
        ],
        "connection_type": "<serial|I2C>",
        "i2c_attributes": {
          "i2c_baud_rate": <int>,
          "i2c_addr": <int>,
          "i2c_bus": "<name-of-bus-on-board>"
        },
        "ntrip_attributes": {
          "ntrip_addr": <int>,
          "ntrip_baud": <int>,
          "ntrip_password": "<your-password>",
          "ntrip_path": "<your-ntrip-path>",
          "ntrip_username": "<your-username>"
        },
        "serial_attributes": {
          "serial_baud_rate": <int>,
          "serial_path": "<your-serial-path>"
        },
        "correction_source": "<your-correction-source>",
        // non-NTRIP attributes:
        "svin": "<svin-option>", //SurveyIn
        "required_accuracy": <float>,
        "required_time_sec": <int>
      },
      "depends_on": []
    }
  ]
}

{
    "name": "my-rtk-station",
    "type": "movement_sensor",
    "model": "rtk-station",
    "children": [
        "gps1"
    ],
    "attributes": {
        "connection_type": "serial",
        "ntrip_attributes": {
            "ntrip_addr": "<NTRIP_address>",
            "ntrip_baud": 38400,
            "ntrip_password": "<password>",
            "ntrip_path": "",
            "ntrip_username": "<username>"
        },
        "correction_source": "ntrip"
    }
}

{
    "name": "my-rtk-station",
    "type": "movement_sensor",
    "model": "rtk-station",
    "children": [
        "gps1"
    ],
    "attributes": {
        "board": "board",
        "connection_type": "serial",
        "i2c_attributes": {
            "i2c_baud_rate": 115200,
            "i2c_addr": 111,
            "i2c_bus": "<name_of_bus_on_board>",
       },
        "correction_source": "I2C",
        "loc_accuracy": 10,
        "svin": "time",
        "time_accuracy": 60
    }
}

{
    "name": "my-rtk-station",
    "type": "movement_sensor",
    "model": "rtk-station",
    "children": [
        "gps1"
    ],
    "attributes": {
        "connection_type": "serial",
        "serial_attributes": {
            "serial_baud_rate": 115200,
            "serial_path": "/dev/serial/by-path/<device_ID>"
        },
        "correction_source": "serial"
    }
}

Find NTRIP and configuration attribute information in the GPS-RTK documentation.



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