Are you working with a technical team?
I suspect you’ll have to experiment to gain knowledge, and apply it to your unique situations.
I’m not here to give you absolute guarantees.
How far do your radio links work? How do the local weather and atmospheric conditions vary a different distances.
I’d say at approaching 30 km the value of the common view tends to be significantly diminished.
For post-processing the sweet-spot is around about 7 km, that’s not to say 10-20 km can’t be servicable, but you’re likely to be disappointed more often.
Perhaps look to the experiences of surveyors in your own area, and the density of stations they are using, and the use of VRS to create more localized service from more broadly dispersed stations.
You can also increase the density of your own stations, or increase the sophistication of your implementation.
https://wisconsindot.gov/Pages/doing-bus/eng-consultants/cnslt-rsrces/tools/wiscors/default.aspx
Can i know how to choose the specific autopilot for our application and how much the cost of the such autopilot will come around?
@Rakesh16, that really depends on what you need to accomplish.
You said :
Our goal is to navigate through agricultural fields in autonomous mode using a snake-like zigzag pattern to ensure full field coverage with centimetre-level accuracy.
Would the vehicle path be pre-determined, with the addition of basic obstacle avoidance ?
OR, would the path be decided in real-time based on external factors from various sensors & inputs?
The former is relatively easy with an off-the-shelf autopilot, the latter requires significant integration between systems.
It’s easier for everyone to provide suggestions if you are able to explain the mission in more detail.
@rftop Yes, it follows a predetermined path and stops when it encounters an obstacle. As I mentioned, it moves in a snake-like pattern to cover the entire field. Let me know if there’s any specific information you need to assist further.
One of the most effective means to reduce cost is to be able to do any of this research, analysis, choosing and coding YOURSELF. Or use techical members of your own team.
The mechanics and controls afforded by the vehicle are likely to be most determinative of what controller and actuators will be needed. If you need to interact with the equipment in the field you might need a tablet/laptop, with a screen. The “flight-controller” can be a single-board computer (SBC), perhaps something in the form of an Arduino to something very custom and feature rich, or off-the-self and repurposed from a UAV application.
snake-like = zig-zag
Hi friends,
I have been developing a autonomous rover with simplertk2b - ZED-F9P as a base station. So to set as a base station after a survey in. I surveyed the gnss receiver with the gnss antenna in an open sky. But it hasn’t changed to time mode after the survey in process. So, then I decided to change the version 1.13 to current version of 1.51 from ublox website. but now I’m facing and now I’m facing this error from my side
Setup pipes
Process launched
-p STDIO -b 57600:9600:57600 --no-fis 1 -s 0 -t 0 -v 1 “C:\Users\jpmag\Downloads\UBX_F9_100_HPG151_ZED_F9P.6c43b30ccfed539322eccedfb96ad933.bin”
----------CMD line arguments-----------
Image file: C:\Users\jpmag\Downloads\UBX_F9_100_HPG151_ZED_F9P.6c43b30ccfed539322eccedfb96ad933.bin
Flash:
Fis: flash.xml
Port: STDIO
Baudrates: 57600/9600/57600
Safeboot: 0
Reset: 1
AutoBaud: 0
Verbose: 1
Erase all: 1
Erase only: 0
Training sequence: 0
Chip erase: 0
Merging FIS: 1
Update RAM: 0
Use USB alt: 0
0.0 u-blox Firmware Update Tool version 23.11
0.0 Updating Firmware ‘C:\Users\jpmag\Downloads\UBX_F9_100_HPG151_ZED_F9P.6c43b30ccfed539322eccedfb96ad933.bin’ of receiver over ‘STDIO’
0.0 - Opening and buffering image file
0.0 - Verifying image
0.0 - Got an encrypted image with footer info
0.0 - CRC Value : FFEE16BA
0.0 - Footer Version : 0
0.0 - Number of Images : 2
0.0 - Footer Size : 28
0.0 - Image Config Size : 0
0.0 - Image 0 Size : 766056
0.0 - Image 1 Size : 588540
0.0 - Trying to open port STDIO
0.0 - Setting baudrate to 57600
1.2 - Retry poll
2.2 - Retry poll
3.2 - Retry poll
3.2 ERROR: Version poll failed.
3.2 Firmware Update FAILED
Firmware Update Utility has unexpectedly terminated
Exit code (2)
kindly help me with this. I have restarted the system uninstalled and re-installed the ucenter software, even dumped the old firmware 1.13 again but the error still persists.
There’s a YouTube video from uBlox covering firmware update methods.
I’d suggest using the Command Line usage with the specific COM port rather than STDIO.
First try GUI method where yo check chip erase and avoid setting specific baud rate.
Youll just have to be persistent.
As for not getting in TIME mode, you should have enabled UBX-NAV-PVT to see that, or reviewed why the Survey-In failed to complete.
yeah, i have been updated my version to new one. but for TIME MODE there are no enable option in the UBX-NAV-PVT there are only values displayed as
| Param | Value | Units |
|---|---|---|
| GPS Time Tag | 177324.000 | [s] |
| UTC Date and Time | 18/ 3/ 2025 01:15:06 -000442792 | |
| UTC Date and Time Confirmation Status | Date: CONFIRMED, Time: CONFIRMED | |
| UTC Time Accuracy | 22 | [ns] |
| Position Fix Type | TIME | |
| Fix Flags | FixOK DGNSS | |
| PSM state | n/a | |
| Position Latitude, Longitude, Height, MSL | 13.1009666, 80.2828823, -78.9, 7.7 | [deg,deg,m,m] |
| Invalid Position Latitude, Longitude, Height, MSL | No | |
| Position Accuracy Estimate Horizontal, Vertical | 1.6, 1.2 | [m,m] |
| Velocity North, East, Down | 0.000, 0.000, 0.000 | [m/s,m/s,m/s] |
| Velocity, Heading Accuracy Estimate | 0.010, 62.8 | [m/s,deg] |
| Speed over Ground | 0.000 | [m/s] |
| Heading of Motion, Heading of Vehicle | 0.0, n/a | [deg,deg] |
| Magnetic Declination, Declination Accuracy Estimate | n/a, n/a | [deg,deg] |
| PDOP | 99.99 | |
| #SVs Used | 30 | |
| Carrier Range Status | Not used | |
| Age of the most recently received differential correction | N/A | [sec] |
| NMA Fix Status | Not verified | |
| Time Authentication Status | Not authenticated |
So I just opened this window and started the survey-in simultaneously and still no changes
Ok, so it’s reporting TIME mode, and thus already has a static location.
If you query UBX-CFG-TMODE3 it should indicate it’s static.
what to query in UBX-CFG-TMODE3 it just shows the time and accuracy i have entered
even it has shown in ubx-nav-pvt the fix mode column not changed to time
You have NOT enabled the UBX-NAV-PVT message, it’s been 431 seconds since you queried it, so it’s only reporting what the NMEA Sentences output, which is 3D/DGNSS.
If you want it to say “TIME” in the right hand pane, you will need to enable UBX-NAV-PVT, right-click and enable it in the Messages Tree-View
now it’s displaying as TIME/DGNSS in fix mode. Does it means is it working as a base station now
Yes, means it operational as a static base station, can report RTCM3 1005, and the MSM4 or MSM7 and 1230
its either in TIME mode and changes to TIME/DGNSS mode after a while what is the difference between it. how to make it stable
Now, with your help sets the simplertk2b budget board as static base the heading kit have simplertk2blite board as moving base with simplertk2b budget board as rover. As per ublox integration manual I’m trying to set the ardusimple heading kit which contains simplertk2blite board as moving base and simplertk2b budget board as rover.
Now our aim is to achieve atleast 10 cm accuracy. I have long distance radio rfd868 modem in uart1 to send corrections from base to rover. now what should be enabled in protocol in and protocol out columns for base station, moving base(lite board) and rover board
ArduSimple should have Tutorials and Scripts, you’ll want to review those
The u-Blox app-note covers the concepts. These aren’t egregiously complex, just require you move data messages between the interfaces. Just send RTCM3 messages over the radio link, not NMEA, etc. https://content.u-blox.com/sites/default/files/documents/ZED-F9P-MovingBase_AppNote_UBX-19009093.pdf
Perhaps look over existing threads on closely related topics, so I don’t have to personally re-explain everything
The primary unit will report position via UBX-NAV-PVT, the secondary will report orientation via UBX-NAV-RELPOSNED.
If working optimally, better than 10cm position, and degree or better orientation. How effective this all is will also depend on your control systems, and rate/accuracy of control you have over the vehicle systems.
The primary unit wants to ingress RTCM3 from the fixed base via the radio, 1005, 1077, 1087, 1097, 1127, 1230. You want to egress 4072.0, 1077, 1087, 1097, 1127, 1230 from the primary and into the secondary.
I don’t recall the exact wiring/plumbing of the ArduSimple Basic/Lite units, you’ll need to refer to their documentation, and draw your own diagrams, establishing the UART1/UART2 sense at each interface, the Lite having subtlety different wiring on the top vs bottom interfaces, so pay attention. I used the basic units, did my own wiring, and did my own radio link.
I got default configuration files to get msm7 satellite data from Ardusimple. i got only 3d/dgnss from lite board and got 3d/dgnss/float from budget board of heading kit. but got orientation only in budget board of heading kit. So what to check in which board to come to know we’re in rover mode getting rtk corrections and heading. Even Ardusimple says to use default configuration files in website and no response from support.
Got orientation values in budget board of heading kit
Small Lite board is the Primary here, it should be getting its RTCM3 data over the radio link from the XBee on top of it.
Make sure the Radio link is working, that the Fixed Base is transmitting, and this end is receiving.
Is there any relation between UART baud rate and radio link air data rate if it so by baud rate is 115200 and rover update rate is 1hz what should be the air data rate of radio link. But even I tried wired UART still there is no correction received
