Protocole de communication pour le RTKronos

This version is outdated by a newer approved version.

This version (2022/03/12 10:43) is a draft.
Approvals: 0/1The Previously approved version (2021/04/03 17:52) is available.

This is an old revision of the document!

tags: RTK, Kronos, RTKronos, communication

La carte renvoie toutes les secondes la position et l'orientation de déplacement données par le GPS.

Ces informations sont disponibles sur le port série et le port SPI du module XLBee 2 (SOCKET 2 sur la carte).

[0:1] : (uint16) packet_id
[2:3] : (uint16) packet_length
[4:packet_length] : payload

1.1.1 Payload format for every packet ID/type

1.1.1.1 Id 0x0001: Complete position information

Field

Format

Description

Offset

sol status

Enum (4 octets)

Value	Status	Description
0	SOL_COMPUTED	Solution computed
1	INSUFFICIENT_OBS	Insufficient observation
2	NO_CONVERGENCE	No convergence
4	COV_TRACE	Trace of covariance matrix exceeds maximum (trace>1000m)

0

pos type

Enum (4 octets)

Value	Type	Description
0	NONE	No solution
1	FIXEDPOS	Position has been fixed manually
8	DOPPLER_VELOCITY	Velocity is derived from real-time Doppler message
16	SINGLE	Single point position
17	PSRDIFF	Pseudo-range difference decomposing
32	L1_FLOAT	L1 floating solution
33	IONOFREE_FLOAT	Ionospheric-free floating solution
34	NARROW_FLOAT	Narrow-lane floating solution
48	L1_INT	L1 integer solution
49	WIDE_INT	Wide-lane integer solution
50	NARROW_INT	Narrow-lane integer solution

4

lat

Double (8 octets)

Latitude

8

lon

Double (8 octets)

Longitude

16

hgt

Double (8 octets)

Height (altitude)

24

undulation

Float (4 octets)

Geoid undulation (distance between the geoid and the WGS84 ellipsoid in meter)

32

datum id#

Enum

ID code of coordinate system, onlysupporting WGS84 at present, ID: WE

36

lat σ

Float (4 octets)

Latitude standard deviation

40

lon σ

Float (4 octets)

Longitude standard deviation

44

hgt σ

Float (4 octets)

Height standard deviation

48

stn id

Char[4]

Base station ID

52

diff_age

Float (4 octets)

Differential age in seconds

56

sol_age

Float (4 octets)

Solution age in seconds

60

#SVs

uint8

Number of satellite tracked

64

#solnSVs

uint8

Number of satellite used in solution

65

sig mask

Enum (1 octet)

Bit	Mask	Description
0	0x01	GPS L1 used in calculation
1	0x02	GPS L2 used in calculation
2	0x04	GPS L5 used in calculation
3	0x08	BDS B3 used in calculation
4	0x10	GLONASS L1 used in calculation
5	0x20	GLONASS L2 used in calculation
6	0x40	BD2 B1 used in calculation
7	0x80	BD2 B2 used in calculation

66

1.1.1.2 Id 0x0002: Heading data

Field	Format	Description	Offset
heading	Float (4 octets)	Heading angle in degrees from True North	0

1.1.1.3 Id 0x0003: Satellite count

Field	Format	Description	Offset
GPS L1	uint8	Number of active satellites on GPS L1 band	0
GPS L2	uint8	Number of active satellites on GPS L2 band	1
GPS L5	uint8	Number of active satellites on GPS L5 band	2
GLONASS L1	uint8	Number of active satellites on GLONASS L1 band	3
GLONASS L2	uint8	Number of active satellites on GLONASS L2 band	4
BD2 B1	uint8	Number of active satellites on BD2 B1 band	5
BD2 B2	uint8	Number of active satellites on BD2 B2 band	6
BD2 B3	uint8	Number of active satellites on BD2 B3 band	7
Galileo E1	uint8	Number of active satellites on Galileo E1 band	8
Galileo E5	uint8	Number of active satellites on Galileo E5 band	9

En Mars 2022, nous avons ajouté la sortie en direct sur le port dédié du GPS (port COM3 de l'UB4B0).
Cela permet d'avoir une fréquence des messages garantie par le module GPS RTK (sans délai de traitement).
Pour le moment seuls les messages de type GNGGA sont disponibles sous format ASCII.

2.1 Description du format GNGGA

Champs	Description	Nombre et type des symboles	Example
<nowiki>$GNGGA<\nowiki> \| Préambule permettant d'identifiant le type du message \| 6 caractères fixes \| <nowiki>$GNGGA<\nowiki>
utc	Temps UTC de la position calculée (heures/minutes/secondes/dixièmes de secondes). Précision 10ms	hhmmss.ss (8 digits et un point de virgule)	170659.00