simplertk2b-kit-lr-still-struggling-with-fix-types

Q&A forumCategory: Questionssimplertk2b-kit-lr-still-struggling-with-fix-types
MaxG asked 3 weeks ago

I bought a pre-configured LR kit, and when I ran it up initially, I could not get a fix type other then 3D, which I posted about here: https://www.ardusimple.com/question/rtk2blite-base-and-rover-not-seeing-rtk-fix-on-u-center-when-connecting-the-rover-board/ At the time I got a fix without understanding why. At the time I did not write the changes to the memory of BASE and ROVER. I put the boards aside until I had the antennas for the base station set up, which is now complete, and working. The GPS antenna has full view of the sky. I captured 24h of BASE location, and send it to a PPP (Precise Point Positioning) service to determine the accurate position of the BASE antenna. For that I have changed UBX-CFG-MSG from 01-06-NAV-SOL (no boxes ticked) to 02-15-RXM-RAWX (USB box ticked). I have since change this back (as in un-ticked the USB box for 02-15-RXM-RAWX). I have done the following to the BASE config: UBX-CFG-TMODE3 changed from 0-Disabled to 2-Fixed Mode, and entered the x, y, z coordinates form the PPP service, leaving the accuracy at 0. Checking (BASE) UBX-NAV-PVT shows: Position Fix Type as TIME and Fix Flags as FixOK However, the Docking Window|Data only shows 3D The BASE board\’s GPS>XBEE is blinking At the ROVER: The ROVER boards\’ XBEE>GPS is blinking; GPS fix blinks, No RTK blinks as well. UBX-RXM-RTCM shows no messages UBX-NAV-PVT shows Position Fix Type as 3D Fix, and Fix Flags as FixOK, DGNSS However, the Docking Window|Data only shows a 3D/FIXED Could someone please indicate, what I need to change/setup to make this work.

clive1 replied 3 weeks ago

>>UBX-RXM-RTCM shows no messages
You’ll need to work that backward then to figure out why. The Rover’s not going to enter RTK without data.

Check what the Base is outputting. That the RTCM3 messages are generated and output on UART2
Check what the Radio is transporting. Baud rates match, data transits the link.

clive1 replied 3 weeks ago

Check things like UBX-MON-IO / COMMS / TXBUF / RXBUF to get a feel for whats going in/out of the modules

2 Answers
MaxG answered 3 weeks ago

Not sure what ruined my nice formatting?!
I bought the kit pre-configured, and did not change its configuration, other than the stated changes above.
Alright, going through the config…
For the BASE: (I changed nothing at the BASE, compared to my initial post; the BASE has not been switched off or restarted; it is mounted under the shed roof.) The fixed mode is 3D.

  • UBX-CFG-PRT | UART1 in = 0+1+5 UBX+NMEA+RTCM3 at 115200, 8, 1, none, LSB first
  • UBX-CFG-PRT | UART1 out = 1-NMEA at 115200, 8, 1, none, LSB first
  • UBX-CFG-PRT | UART2 in & out = 5-RTCM3 at 115200, 8, 1, none, LSB first
  • UBX-MON-IO | I2C, SPI all 0; UART1, UART2, USB all have TX bytes; no RX for UARTs but USB; no error or ‘break conditions’ count
  • UBX-CFG-TMODE3 is set to 2-Fixed Mode; proper values for (cut and paste from the PPP report)
  • UBX-MON-RXBUF all 0
  • UBX-MON-TXBUF all 0; except for UART1 which alwasy has some 300-400 bytes pending when I poll this parameter.
  • UBX-MON-COMMS, see below:

 

memAllocError
No

txBufFullError
No

Port (PortId)
 
Total (B)
Pending (B)
Usage
PeakUsage
OverrunErrs

UART1 (0x01)
Tx
1866462924
374
15%
19%

USB (0x03)
Tx
2445574055
0
9%
99%

UART2 (0x12)
Tx
453380051
0
3%
4%

UART (0x01)
Rx
0
0
0%
0%
0

USB (0x03)
Rx
5947
0
0%
1%
0

UART2 (0x12)
Rx
0
0
0%
0%
0

Port (PortId)
 
0-UBX
1-NMEA
5-RTCM3
None
skipped (B)

UART1 (0x01)
Rx
0
0
0
0
0

USB (0x03)
Rx
549
0
0
0
0

UART2 (0x12)
Rx
0
0
0
0
0

 
For the ROVER:

  • I switched on the ROVER board, launched u-center; and immediately got a 3D/DGNSS/FLOAT as fix mode in the docked data window. After some 10 seconds it changed to 3D/DGNSS/FIXED. This looks like what I am expecting?! Not sure, why this is different from before. After typing this, it is back to 3D/DGNSS/FLOAT
  • UBX-CFG-PRT | UART1 in = 0+1+5 UBX+NMEA+RTCM3 at 38400, 8, 1, none, LSB first
  • UBX-CFG-PRT | UART1 out = 1-NMEA at 38400, 8, 1, none, LSB first
  • UBX-CFG-PRT | UART2 in & out = 5-RTCM3 at 115200, 8, 1, none, LSB first
  • UBX-MON-IO | I2C, SPI all 0; UART1 0 RX, 909374 TX; UART2 1246610 RX, 0 TX; USB 114 RX, 904492 RX; no error or ‘break conditions’ count
  • UBX-CFG-TMODE3 is set to 0-Disbaled
  • UBX-MON-RXBUF all 0; except UART2 with 14 to 90 bytes pending, when polling the paramter
  • UBX-MON-TXBUF all 0; except for UART1, which has some 1300-1400 bytes pending when I poll this parameter; USB has some 800 bytes pending.
  • UBX-MON-COMMS, see below:

 

memAllocError
No

txBufFullError
No

Port (PortId)
 
Total (B)
Pending (B)
Usage
PeakUsage
OverrunErrs

UART1 (0x01)
Tx
4328702
1423
13%
13%

USB (0x03)
Tx
4324438
787
13%
17%

UART2 (0x12)
Tx
453380051
0
0%
0%

UART (0x01)
Rx
0
0
0%
0%
0

USB (0x03)
Rx
194
0
0%
0%
0

UART2 (0x12)
Rx
4470241
129
3%
25%
0

Port (PortId)
 
0-UBX
1-NMEA
5-RTCM3
None
skipped (B)

UART1 (0x01)
Rx
0
0
0
0
0

USB (0x03)
Rx
23
0
0
0
0

UART2 (0x12)
Rx
0
0
28191
0
1258238

Hopefully these tables make sense to someone.
ROVER UART2 with 1 million bytes skipped seems not right as far as I can tell… but wouln’t know where to look.

MaxG replied 3 weeks ago

The preview was fine showing a useful table… this forum software sucks.

clive1 replied 3 weeks ago

If the base is outputting, it could be an issue with the radio link.
I’d perhaps put the Rover’s radio into one of the XBee USB Serial Dongles, connect to that in uCenter at 115200 8N1, and confirm in RTCM3 packets are streaming out cleanly.

MaxG replied 3 weeks ago

I am happy to step though the troubleshooting… and thanks for hanging in there.
However, before I check the ROVER, could we please establish first that the BASE is set-up properly?
We set UBX-CFG-TMODE3 to 2-Fixed Mode and entered the PPP report values); this will set the board into stationary mode. The deviation map will stay dead centre on the given coordinates; no values for HDOP/PDOP/3D-2D Acc (in the docked Data window)
The docked Data window shows Fixed Mode = 3D; while UBX-NAV-PVT shows: TIME, FixOK
UART and comms setting seem fine (as described earlier, with both UARTs pushing RTCM3).
Is this the correct set-up for the BASE?
If so, we can leave it alone for any further consideration.

Now the ROVER…
I read your sentence few time to make sense of it 🙂 I installed the FTDI driver; connected the ROVER to u-center; in my case COM5 at 115200 (confirmed by green blinking LEDs in the status bar of u-center) receives this in the packet console:
??:??:?? R -> UNKNOWN ???, Size 32, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 118, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> RTCM3 1094, Size 129, ‘Galileo MSM4’
??:??:?? R -> RTCM3 1124, Size 86, ‘BeiDou MSM4’
??:??:?? R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
??:??:?? R -> UNKNOWN ???, Size 18, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 228, ‘UNKNOWN’
??:??:?? R -> RTCM3 1124, Size 86, ‘BeiDou MSM4’
??:??:?? R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
??:??:?? R -> RTCM3 1005, Size 25, ‘Stationary RTK reference station ARP’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> UNKNOWN ???, Size 12, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 210, ‘UNKNOWN’
??:??:?? R -> RTCM3 1124, Size 86, ‘BeiDou MSM4’
??:??:?? R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
??:??:?? R -> RTCM3 1005, Size 25, ‘Stationary RTK reference station ARP’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> UNKNOWN ???, Size 30, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> RTCM3 1094, Size 129, ‘Galileo MSM4’
??:??:?? R -> RTCM3 1124, Size 86, ‘BeiDou MSM4’
??:??:?? R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
??:??:?? R -> UNKNOWN ???, Size 161, ‘UNKNOWN’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> UNKNOWN ???, Size 4, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> RTCM3 1084, Size 115, ‘GLONASS MSM4’
??:??:?? R -> RTCM3 1094, Size 129, ‘Galileo MSM4’
??:??:?? R -> RTCM3 1124, Size 86, ‘BeiDou MSM4’
??:??:?? R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
??:??:?? R -> UNKNOWN ???, Size 24, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’
??:??:?? R -> UNKNOWN ???, Size 112, ‘UNKNOWN’
??:??:?? R -> RTCM3 1074, Size 144, ‘GPS MSM4’

The binary console says this:

??:??:?? 0000 D3 00 59 46 40 00 29 D3 C0 64 00 00 03 C4 81 40 Ó.YF@.)ÓÀd…Ä.@
0010 00 00 00 00 20 00 00 00 7F BD C3 BF C1 3F 3F A4 …. ….½Ã¿Á??¤
0020 27 6F 51 CF D5 1F 6C AF 2F CD AC 82 D7 F9 C7 A2 ‘oQÏÕ.l¯/ͬ.×ùÇ¢
0030 24 39 41 1F 6D 79 BE E8 05 92 00 9F 8F FC DF 1F $9A.my¾è…..üß.
0040 A1 A4 60 74 3C 84 8F C7 EB E6 B7 F0 A7 20 C5 B3 ¡¤`tÐ..´MCºH…±
0010 94 39 39 B9 26 E8 9A 39 FF .99¹&è.9ÿ.

??:??:?? 0000 D3 00 8A 43 20 00 29 D4 9E 46 00 00 59 40 82 20 Ó..C .)Ô.F..Y@.
0010 00 00 00 00 20 00 80 00 7F F5 28 A2 23 25 A5 A4 …. ….õ(¢#%¥¤
0020 24 25 87 CF 03 15 72 FF 03 EE CB 66 98 7A 30 17 $%.Ï..rÿ.îËf.z0.
0030 81 36 FB 69 25 42 1D 05 9B 4A 8F 10 5C 1F D5 DF .6ûi%B…J..\.Õß
0040 73 FB C8 7B 30 B1 DF 42 96 A1 F0 39 B7 BD 82 30 sûÈ{0±ßB.¡ð9·½.0
0050 95 46 82 25 AB 0B 87 74 2E 15 C0 8E ED C1 EF 97 .F.%«..t..À.íÁï.
0060 FC 85 B7 FE 6D A0 29 3C FF FF FF FF FF FF F4 00 ü.·þm )Ñ?zã?ë .§
0050 B8 80 BB 71 02 8E E0 02 EE E0 0B AA 60 00 92 7F ¸.»q..à.îà.ª`…
0060 6A 07 FA E7 D8 60 53 61 72 6E 87 1A 71 FF FF FF j.úçØ`Sarn..qÿÿÿ
0070 FF FF FF A6 00 04 D3 5D 65 95 53 3D 56 5F 4D CD ÿÿÿ¦..Ó]e.S=V_MÍ
0080 80 00 00 00 00 00 00 00 00 00 00 00 00 2D 9F 55 ………….-.U.

… There are too many question marks for my liking…
Maybe I should do the same with the BASE and see whether it sends proper RTCM msgs?

MaxG replied 3 weeks ago

I just noticed that the on the BASE, the docked window | Data does show 2D/3D acc values of 0.01 at times.

MaxG replied 3 weeks ago

OK, connected to the BASE; installed the FTDI drivers; all good.
However, I am not receiving anything on the XBee UART.
Also, the BASE’s LED for NoRTK is always on.
However, the UART2 is set to 5-RTCM3 at 115200.
I can’t make sense of this.
The difficulty for me with all this is, I do not know what it is expected for “normal” operation.
BTW: the ROVER’s LED is ON for NoRTK.

clive1 replied 3 weeks ago

More unknowns than I’d want to be seeing

This is the kind of thing I’d want to see on my Rover side radio link, basically the message mix I’ve enabled on the Base side, delivered to the Rover:

??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’
??:??:?? R -> RTCM3 1230, Size 10, ‘GLONASS code-phase biases’
??:??:?? R -> RTCM3 1005, Size 25, ‘Stationary RTK reference station ARP’
??:??:?? R -> RTCM3 4072.1, Size 74, ‘Reference station timing information’
??:??:?? R -> RTCM3 1077, Size 250, ‘GPS MSM7’
??:??:?? R -> RTCM3 1087, Size 176, ‘GLONASS MSM7’
??:??:?? R -> RTCM3 1097, Size 201, ‘Galileo MSM7’
??:??:?? R -> RTCM3 1127, Size 151, ‘BeiDou MSM7’

For the time being quit focusing on the RTK LED. The XBee LEDs should indicate the direction and flow of data, but don’t reflect the nature or quality of the data. The UBX-NAV-PVT message on the Rover side should indicate the type of fix, but this predicated on the delivery of data. The UBX-RXM-RTCM should show if it is getting serviceable data.

MaxG replied 3 weeks ago

Yes, the GBPXBee LEDs point in the right directions.
Yes, ROVER UBX-NAV-PVT says 3D Fix, FixOK
ROVER UBX-RXM-RTCM is empty = shows no msgs.
I see that you ROVER packet console also has the question marks where I suspect a time stamp should be. OK. Satellite MSM message format looks the same. We both got ARP msgs; but you have RTCM3 4072.1, Size 74, ‘Reference station timing information’, which I don’t… and which I feel is the RTK correction records I am not getting.

MaxG replied 3 weeks ago

I decided to connect to the XBee UART again and get timestamps this time; go figure…
05:09:52 R -> RTCM3 1084, Size 129, ‘GLONASS MSM4’
05:09:52 R -> UNKNOWN ???, Size 81, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 83, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 83, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 101, ‘UNKNOWN’
05:09:52 R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
05:09:52 R -> RTCM3 1005, Size 25, ‘Stationary RTK reference station ARP’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 89, ‘UNKNOWN’
05:09:52 R -> RTCM3 1124, Size 78, ‘BeiDou MSM4’
05:09:52 R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
05:09:52 R -> RTCM3 1005, Size 25, ‘Stationary RTK reference station ARP’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> RTCM3 1084, Size 129, ‘GLONASS MSM4’
05:09:52 R -> UNKNOWN ???, Size 30, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 83, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> RTCM3 1084, Size 129, ‘GLONASS MSM4’
05:09:52 R -> RTCM3 1094, Size 100, ‘Galileo MSM4’
05:09:52 R -> RTCM3 1124, Size 78, ‘BeiDou MSM4’
05:09:52 R -> RTCM3 1230, Size 14, ‘GLONASS code-phase biases’
05:09:52 R -> UNKNOWN ???, Size 18, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 83, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’
05:09:52 R -> UNKNOWN ???, Size 83, ‘UNKNOWN’
05:09:52 R -> RTCM3 1074, Size 173, ‘GPS MSM4’

MaxG replied 3 weeks ago

I have now spent two full days trying to figure this out or get this working.
Is it fair to assume there is a hardware issue?

MaxG answered 3 weeks ago

Well, problem solved! 🙂
I installed FW 1.13 on the GPS modules, loaded the config for base and rover from https://www.ardusimple.com/configuration-files/
… and get a fix mode of TIME on the base, and 3D/DGNSS/FIXED on the rover.
My sincere thanks to clive1 for trying his best; I do appreciate it, and learned a lot, through both, the support received and the manuals read along the way.