Skip to content

Commit 6a4cbd5

Browse files
committed
Docs update
1 parent c07edb4 commit 6a4cbd5

File tree

4 files changed

+35
-46
lines changed

4 files changed

+35
-46
lines changed

docs/correction_transport.md

Lines changed: 19 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,39 +1,41 @@
11
# Correction Transport
22

3-
Surveyor: ![Feature Supported](img/Icons/GreenDot.png) / Express: ![Feature Supported](img/Icons/GreenDot.png) / Express Plus: ![Feature Not Supported](img/Icons/GreenDot.png) / Facet: ![Feature Supported](img/Icons/GreenDot.png) / Facet L-Band: ![Feature Supported](img/Icons/YellowDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png)
3+
Once a [correction source](correction_sources.md) is chosen, the correction data must be transported from the base to the rover. The RTCM serial data is approximately 530 bytes per second. This section describes the various methods to move correction data from a base to one or more rovers.
44

5-
Once a [correction source](correction_sources.md) is chosen, the correction data must be transported from the base to the rover. The RTCM serial data is approximately 530 bytes per second and is transmitted at 57600bps out of the **RADIO** port on a SparkFun RTK device.
6-
7-
There are a variety of ways to move data from a base to a rover. We will cover the most common below.
8-
9-
Note: RTK calculations require RTCM data to be delivered approximately once per second. If RTCM data is lost or not received by a rover, RTK Fix can still be maintained for many seconds before the device will enter RTK Float mode. This is beneficial where devices like Serial Radios may drop packets due to RF congestion.
10-
11-
**Note:** The RTK Facet L-Band is capable of receiving RTCM corrections from a terrestrial source but because it has a built-in L-Band receiver, we recommend using the satellite-based corrections.
5+
RTK calculations require RTCM data to be delivered approximately once per second. If RTCM data is lost or not received by a rover, RTK Fix can still be maintained for many seconds before the device will enter RTK Float mode. If a transport method experiences congestion (ie, cellular latency, Serial Radios dropping packets, etc) the rover(s) can continue in RTK Fix mode even if correction data is not available for multiple seconds.
126

137
## WiFi
148

15-
![NTRIP Server setup](img/WiFi Config/RTK_Surveyor_-_WiFi_Config_-_Base_Config2.jpg)
9+
Torch: ![Feature Supported](img/Icons/GreenDot.png)
10+
11+
![NTRIP Server setup](<img/WiFi Config/RTK_Surveyor_-_WiFi_Config_-_Base_Config2.jpg>)
1612

1713
Any SparkFun RTK device can be set up as an [NTRIP Server](menu_base.md#ntrip-server). This means the device will connect to local WiFi and broadcast its correction data to the internet. The data is delivered to something called an NTRIP Caster. Any number of rovers can then access this data using something called an NTRIP Client. Nearly *every* GIS application has an NTRIP Client built into it so this makes it very handy.
1814

1915
WiFi broadcasting is the most common transport method of getting RTCM correction data to the internet and to rovers via NTRIP Clients.
2016

2117
![RTK product in NTRIP Client mode](img/Displays/SparkFun_RTK_Rover_NTRIP_Client_Connection.png)
2218

23-
Similarly, any SparkFun RTK device can be set up as an [NTRIP Client](menu_gnss.md#ntrip-client). The RTK device will connect to the local WiFi and begin downloading the RTCM data from the given NTRIP Caster and RTK Fix will be achieved. This is useful only if the Rover remains in RF range of the WiFi access point. Because of the limited range, we recommend using a cellphone rather than WiFi for NTRIP Clients.
19+
*RTK product showing corrections being downloaded over WiFi in NTRIP Client mode*
20+
21+
Similarly, any SparkFun RTK device can be set up as an [NTRIP Client](menu_gnss.md#ntrip-client). The RTK device will connect to the local WiFi and begin downloading the RTCM data from the given NTRIP Caster and RTK Fix will be achieved. This is useful only if the Rover remains in RF range of a WiFi access point. Because of the limited range, we recommend using a cell phone's hotspot feature rather than a stationary WiFi access point for NTRIP Clients.
2422

2523
## Cellular
2624

25+
Torch: ![Feature Supported](img/Icons/GreenDot.png)
26+
2727
![SW Maps NTRIP Client](img/SWMaps/SW_Maps_-_NTRIP_Client.jpg)
2828

29-
Using a cellphone is the most common way of transporting correction data from the internet to a rover. This method uses the cell phone's built-in internet connection to obtain data from an NTRIP Caster and then pass those corrections over Bluetooth to the RTK device.
29+
Using a cell phone is the most common way of transporting correction data from the internet to a rover. This method uses the cell phone's built-in internet connection to obtain data from an NTRIP Caster and then pass those corrections over Bluetooth to the RTK device.
3030

3131
Shown above are SW Map's NTRIP Client Settings. Nearly all GIS applications have an NTRIP Client built in so we recommend leveraging the device you already own to save money. Additionally, a cell phone gives your rover incredible range: a rover can obtain RTCM corrections anywhere there is cellular coverage.
3232

3333
Cellular can even be used in Base mode. We have seen some very inventive users use an old cell phone as a WiFi access point. The base unit is configured as an NTRIP Server with the cellphone's WiFi AP credentials. The base performs a survey-in, connects to the WiFi, and the RTCM data is pushed over WiFi, over cellular, to an NTRIP Caster.
3434

3535
## L-Band
3636

37+
Torch: ![Feature Not Supported](img/Icons/RedDot.png)
38+
3739
What if you are in the field, far away from WiFi, cellular, radio, or any other data connection? Look to the sky!
3840

3941
A variety of companies provide GNSS RTK corrections broadcast from satellites over a spectrum called L-Band. [L-Band](https://en.wikipedia.org/wiki/L_band) is any frequency from 1 to 2 GHz. These frequencies have the ability to penetrate clouds, fog, and other natural weather phenomena making them particularly useful for location applications.
@@ -44,13 +46,15 @@ L-Band reception requires specialized RF receivers capable of demodulating the s
4446

4547
## Serial Radios
4648

49+
Torch: ![Feature Not Supported](img/Icons/RedDot.png)
50+
4751
![Two serial radios](img/Corrections/19032-SiK_Telemetry_Radio_V3_-_915MHz__100mW-01.jpg)
4852

4953
Serial radios, sometimes called telemetry radios, provide what is essentially a serial cable between the base and rover devices. Transmission distance, frequency, maximum data rate, configurability, and price vary widely, but all behave functionally the same. SparkFun recommends the [HolyBro 100mW](https://www.sparkfun.com/products/19032) and the [SparkFun LoRaSerial 1W](https://www.sparkfun.com/products/19311) radios for RTK use.
5054

5155
![Serial radio cable](img/Corrections/17239-GHR-04V-S_to_GHR-06V-S_Cable_-_150mm-01.jpg)
5256

53-
All SparkFun RTK products include a [4-pin to 6-pin cable](https://www.sparkfun.com/products/17239) that will allow you to connect the HolyBro branded radio or the SparkFun LoRaSerial radios to a base and rover RTK device.
57+
On SparkFun RTK products that have an external radio port, a [4-pin to 6-pin cable](https://www.sparkfun.com/products/17239) is included that will allow you to connect the HolyBro branded radio or the SparkFun LoRaSerial radios to a base and rover RTK device.
5458

5559
![Radio attached to RTK device](img/Corrections/SparkFun_RTK_Surveyor_-_Radio.jpg)
5660

@@ -62,6 +66,8 @@ The downside to serial telemetry radios is that they generally have a much short
6266

6367
## Ethernet
6468

65-
The Reference Station send and receive correction data via Ethernet. (Note: it cannot currently send or receive correction data via WiFi)
69+
Torch: ![Feature Not Supported](img/Icons/RedDot.png)
70+
71+
Ethernet-equipped RTK devices send and receive correction data via Ethernet.
6672

6773
Please see [Ethernet Menu](menu_ethernet.md) for more details.

docs/img/Terminal/TCP_Client.gif

2.41 MB
Loading

docs/menu_ethernet.md

Lines changed: 6 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -1,39 +1,22 @@
11
# Ethernet Menu
22

3-
## TCP Client and Server
3+
Torch: ![Feature Not Supported](img/Icons/RedDot.png)
44

5-
The RTK device supports connection over TCP. Some Data Collector software (such as [Vespucci](gis_software.md#vespucci)) requires that the SparkFun RTK device connect as a TCP Client. Other software (such as [QGIS](gis_software.md#qgis)) requires that the SparkFun RTK device acts as a TCP Server. Both are supported.
5+
An Ethernet-equipped RTK device sends and receives NTRIP correction data via Ethernet. It can also send NMEA and RTCM navigation messages to an external TCP Server via Ethernet. It also has a dedicated Configure-Via-Ethernet (*Cfg Eth*) mode which is accessed via the MODE button and OLED display.
66

7-
**Note:** Currently TCP is only supported while connected to local WiFi, not AP mode. This means the device will need to be connected to a WiFi network, such as a mobile hotspot, before TCP connections can occur.
7+
By default, the RTK device will use DHCP to request an IP Address from the network Gateway. But you can optionally configure it with a fixed IP Address.
88

9-
![TCP Port Entry](img/WiFi%20Config/SparkFun%20RTK%20Config%20-%20TCP%20Port.png)
10-
11-
If either Client or Server is enabled, a port can be designated. By default, the port is 2947 (registered as [*GPS Daemon request/response*](https://en.wikipedia.org/wiki/Gpsd)) but any port 0 to 65535 is supported.
12-
13-
14-
15-
Surveyor: ![Feature Not Supported](img/Icons/RedDot.png) / Express: ![Feature Not Supported](img/Icons/RedDot.png) / Express Plus: ![Feature Not Supported](img/Icons/RedDot.png) / Facet: ![Feature Not Supported](img/Icons/RedDot.png) / Facet L-Band: ![Feature Not Supported](img/Icons/RedDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png)
16-
17-
The Reference Station sends and receives NTRIP correction data via Ethernet. It can also send NMEA and RTCM navigation messages to an external TCP Server via Ethernet.
18-
It also has a dedicated Configure-Via-Ethernet (*Cfg Eth*) mode which is accessed via the MODE button and OLED display.
19-
20-
By default, the Reference Station will use DHCP to request an IP Address from the network Gateway. But you can optionally configure it with a fixed IP Address.
21-
22-
![Reference Station in DHCP mode](img/Terminal/Ethernet_DHCP.png)
9+
![RTK Device in DHCP mode](img/Terminal/Ethernet_DHCP.png)
2310

2411
*The Reference Station Ethernet menu - with DHCP selected*
2512

2613
![Reference Station in fixed IP address mode](img/Terminal/Ethernet_Fixed_IP.png)
2714

2815
*The Reference Station Ethernet menu - with a fixed IP address selected*
2916

30-
### Ethernet TCP Client
31-
32-
The Reference Station can act as an Ethernet TCP Client, sending NMEA and / or UBX data to a remote TCP Server.
33-
34-
This is similar to the WiFi TCP Client mode on our other RTK products, but the data can be sent to any server based on its IP Address or URL.
17+
## Ethernet TCP Client
3518

36-
E.g. to connect to a local machine via its IP Address, select option "c" and then enter the IP Address using option "h"
19+
Ethernet-equipped RTK devices can act as an Ethernet TCP Client, sending NMEA and / or UBX data to a remote TCP Server. This is similar to the WiFi TCP Client mode on our other RTK products, but the data can be sent to any server based on its IP Address or URL. E.g. to connect to a local machine via its IP Address, select option "c" and then enter the IP Address using option "h"
3720

3821
![Ethernet TCP Client configuration](img/Terminal/Ethernet_TCP_Client_1.png)
3922

docs/menu_ntp.md

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
11
# Network Time Protocol Menu
22

3-
Surveyor: ![Feature Not Supported](img/Icons/RedDot.png) / Express: ![Feature Not Supported](img/Icons/RedDot.png) / Express Plus: ![Feature Not Supported](img/Icons/RedDot.png) / Facet: ![Feature Not Supported](img/Icons/RedDot.png) / Facet L-Band: ![Feature Not Supported](img/Icons/RedDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png)
3+
Torch: ![Feature Not Supported](img/Icons/RedDot.png)
44

5-
The Reference Station can act as an Ethernet Network Time Protocol (NTP) server.
5+
Ethernet-equipped RTK devices can act as an Ethernet Network Time Protocol (NTP) server.
66

77
Network Time Protocol has been around since 1985. It is a simple way for computers to synchronize their clocks with each other, allowing the network latency (delay) to be subtracted:
88

9-
* A client sends a NTP request (packet) to the chosen or designated server
9+
* A client sends an NTP request (packet) to the chosen or designated server
1010
* The request contains the client's current clock time - for identification
1111

1212
* The server logs the time the client's request arrived and then sends a reply containing:
@@ -29,17 +29,17 @@ This exchange is repeated typically five times, before the client synchronizes i
2929

3030
Having your own NTP server on your network allows tighter clock synchronization as the network latency is minimized.
3131

32-
The Reference Station can be placed into its dedicated NTP mode, by pressing the **MODE** button until NTP is highlighted in the display and pausing there.
32+
Ethernet-equipped RTK devices can be placed into dedicated NTP mode, by pressing the **MODE** button until NTP is highlighted in the display and pausing there.
3333

34-
![Animation of selecting NTP mode](img/Displays/SparkFun RTK - NTP Select.gif)
34+
![Animation of selecting NTP mode](<img/Displays/SparkFun RTK - NTP Select.gif>)
3535

3636
*Selecting NTP mode*
3737

38-
The Reference Station will first synchronize its Real Time Clock (RTC) using the very accurate time provided by the u-blox GNSS module. The module's Time Pulse (Pulse-Per-Second) signal is connected to the ESP32 as an interrupt. The ESP32's RTC is synchronized to Universal Time Coordinate (UTC) on the rising edge of the TP signal using the time contained in the UBX-TIM-TP message.
38+
Ethernet-equipped RTK devices will first synchronize its Real Time Clock (RTC) using the very accurate time provided by the u-blox GNSS module. The module's Time Pulse (Pulse-Per-Second) signal is connected to the ESP32 as an interrupt. The ESP32's RTC is synchronized to Universal Time Coordinate (UTC) on the rising edge of the TP signal using the time contained in the UBX-TIM-TP message.
3939

4040
The WIZnet W5500 interrupt signal is also connected to the ESP32, allowing the ESP32 to accurately log when each NTP request arrives.
4141

42-
The Reference Station will respond to each NTP request within a few 10s of milliseconds.
42+
The RTK device will respond to each NTP request within a few 10s of milliseconds.
4343

4444
If desired, you can log all NTP requests to a file on the microSD card, and/or print them as diagnostic messages. The log and messages contain the NTP timing information and the IP Address and port of the Client.
4545

@@ -65,7 +65,7 @@ NTP uses its own epoch - midnight January 1st, 1900. This is different than the
6565

6666
### NTP on Windows
6767

68-
If you want to synchronize your Windows PC to a Reference Station NTP Server, here's how to do it:
68+
If you want to synchronize your Windows PC to a RTK device running as an NTP Server, here's how to do it:
6969

7070
* Install [Meinberg NTP](https://www.meinbergglobal.com/english/sw/ntp.htm) - this replaces the Windows built-in Time Service
7171

@@ -83,7 +83,7 @@ If you want to synchronize your Windows PC to a Reference Station NTP Server, he
8383
[![Meinberg NTP configuration](img/NTP/NTP_Config_1_small.png)](img/NTP/NTP_Config_1.png)
8484

8585
* Comment the lines in *ntp.conf* which name the pool.ntp servers
86-
* Add an extra *server* line and include the IP Address for your Reference Station. It helps to give your Reference Station a fixed IP Address first - see [Menu Ethernet](menu_ethernet.md)
86+
* Add an extra *server* line and include the IP Address for your RTK device. It helps to give your RTK device a fixed IP Address first - see [Menu Ethernet](menu_ethernet.md)
8787
* Save the file
8888

8989
[![Meinberg NTP configuration](img/NTP/NTP_Config_2_small.png)](img/NTP/NTP_Config_2.png)
@@ -102,5 +102,5 @@ If you want to synchronize your Windows PC to a Reference Station NTP Server, he
102102

103103
![Meinberg NTP configuration](img/NTP/NTP_Config_5.png)
104104

105-
If enabled, your Windows PC NTP requests will be printed and logged by the reference station. See [above](#logged-ntp-requests).
105+
If enabled, your Windows PC NTP requests will be printed and logged by the RTK device. See [above](#logged-ntp-requests).
106106

0 commit comments

Comments
 (0)