For a project I’m working on, I need to get the position and heading of a vehicle. I have the simpleRTK2B – starter kit LR and I managed to set up the “regular” base/rover configuration and get fixed mode.
Since I only have two boards, I have tried configuring them as follows, with help of the moving base application note from ublox:
- Board #1 (Base): Base config with enabling RTCM type 4072.0, 1074, 1084, 1094, 1124, 1230 on UART2
- Board #2 (Rover): Rover config with enabling UBX-NAV-RELPOSNED on UART1
With this configuration, the base managed to get into TIME mode and the rover into 3D/GNSS/FLOAT (sometimes fixed). On the rover, I got the baseline length from u-center via UBX-NAV-RELPOSNED (also enabled on the Base), which seemed somewhat accurate. The heading on the other hand seems to be off a bit, and I can’t reproduce it. From what I understand, the heading being output is relative to the base stations’ antenna, is that correct or how do I need to interpret the heading?
My question is, if that’s the correct way to configure a moving base application and if it’s possible to set up a moving base application to get the heading and position of my rover without using the simpleRTK2Blite board? Otherwise I need to think about buying the simpleRTKBlite kit.
Thank you for your help, I appreciate it.
In moving base configuration, the base should not be in TIME mode. We recommend starting from our configuration files: http://www.ardusimple.com/configuration-files
About your extra questions:
- Yes the heading under RELPOSNED is relative to the base station
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