Changes between Version 9 and Version 10 of expansion/gw16143

Timestamp:

11/11/2020 05:47:35 AM (4 years ago)

Author:

Bobby Jones

Comment:

Add software section

expansion/gw16143

@@ -3 +3 @@
 [[Image(GW16143.PNG, width=200)]]
 
-The GW16143 is a high precision GPS Mini-PCIe card designed to provide precise positioning to applications utilizing Gateworks single board computers. It provides centimeter-level (<2cm) accuracy via GNSS positioning with concurrent reception of GPS, GLONASS, Galileo and !BeiDou. 
-
-This is a wiki page about how to use the GW16143. 
+The GW16143 is a high precision GPS Mini-PCIe card designed to provide precise positioning to applications utilizing Gateworks single board computers. It provides centimeter-level (<2cm) accuracy via GNSS positioning with concurrent reception of GPS, GLONASS, Galileo and !BeiDou after receiving [https://en.wikipedia.org/wiki/Real-time_kinematic RTK] fix data. 
+
+This is a wiki page about how to use the GW16143.
 
 ''' Please view the actual product page on the Gateworks website here: 
@@ -91 +91 @@
 
 = Software
-
-'''Coming Soon'''
- See u-blox ZED-F9P Evaluation Module Documentation for Software Examples [https://www.u-blox.com/en/docs/UBX-18055649 Link]'''
+The goal of this section is to provide a surface level understanding of the software components related beginning development on the [https://www.gateworks.com/products/mini-pcie-expansion-cards/gw16143-high-precision-gps-mini-pcie-card/ GW16143]. The primary component on the GW16143 is the [https://www.u-blox.com/en/product/zed-f9p-module U-Blox ZED-F9P] high precision gps module, and is overall comparable to the [https://www.u-blox.com/en/product/c099-f9p-application-board C099-F9P application board] in a mini-PCIe form factor. Notable differences between the C099-F9P and the GW16143 would be the absence of the ODIN-W2 (networking) module and the the addition of an antenna supervisor circuit.
+
+== Quick Start
+Viewing standard (<15m accuracy) GNSS data using the GW16143 is simple on a Gateworks board.
+
+Install prerequisite software:
+{{{#!bash
+apt-get install gpsd gpsd-debug gpsd-clients
+}}}
+
+Make sure the {{{/dev/ttyACM*}}} device enumeration occurs with {{{gpsd}}} running.
+
+{{{#!bash
+dmesg | grep ttyACM
+gpsd /dev/ttyACM*
+}}}
+
+Then after a fix is found (by default indicated by the blinking TIMEPULSE LED), use a {{{gpsd-client}}} program  like {{{cgps}}} to view fix data.
+
+{{{#!bash
+cgps 
+}}}
+
+Or read raw data from the device.
+
+{{{#!bash
+# Note if the device is also outputting binary data, directly reading the device as serial data can have unexpected behavior
+cat /dev/ttyACM* 
+}}}
+
+See the following sections for information on setting up [wiki:gw16143#DPGS differential GPS] to achieve fix data with <2cm levels of accuracy.
+
+== Host Development
+The development tools released by U-Blox are made for the Windows OS, but various Linux based OS alternatives also exist. Initial bring up and testing was done on Gateworks [wiki:newport Newport] and [wiki:venice Venice] boards running our [wiki:ubuntu Ubuntu Focal BSP]. Information on the Windows utilities are included as a reference.
+
+=== Windows
+
+The U-Blox software support for the C099-F9P (and the contained ZED-F9P) comes mainly in the form of the [https://www.u-blox.com/en/product/u-connectxpress u-connectxpress] and [https://www.u-blox.com/en/product/u-center u-center] software. The u-connectxpress software is responsible for the ODIN-W2, and is therefore not required for development with the GW16143. Instead the Gateworks baseboard itself takes the role of the network and communication channel to the ZED-F9P.
+
+The [https://www.u-blox.com/en/product/u-center u-center] evaluation software needs to be installed on a Windows machine, but it has the capability to do everything required for configuration and testing on the ZED-F9P. This includes configuration of control registers, RTK base station/rover set up, and viewing GNSS data. 
+
+For more information on u-center usage see the relevant [https://www.u-blox.com/sites/default/files/u-center_Userguide_%28UBX-13005250%29.pdf user guide].
+
+=== Ubuntu
+
+While it is possible to use the companion U-Blox [https://www.u-blox.com/en/product/u-center u-center] GNSS evaluation software to interact in a windows virtualization environment, there are open source or otherwise widely available software solutions that can natively run in a headless Ubuntu environment. Specifically this allows for full control over the ZED-F9P on the GW16143 when connected to a Gateworks board. 
+
+Therefore all of the following examples can be done on a running target board, or otherwise on a development machine with the GW16143 in a USB carrier. Code can then be cross compiled and delivered to units via whatever preferred method. 
+
+All of the following examples require [https://gpsd.gitlab.io/gpsd/ GPSD] version {{{3.21}}} or greater. The release source tarball for which can be found [http://download-mirror.savannah.gnu.org/releases/gpsd/ here]. The [wiki:ubuntu Gateworks Ubuntu Focal 20.04.1] image at this time contains version {{{3.20}}} and therefore needs to be replaced, otherwise later operations involving {{{ubxtool}}} will fail in unexpected ways. 
+ {{{#!bash
+# Remove current gpsd
+systemctl stop gpsd.socket
+systemctl stop gpsd
+systemctl disable gpsd.socket
+systemctl disable gpsd
+apt purge gpsd
+
+# Build gpsd from release source
+apt install gcc scons python-gi python-gi-cairo g++
+apt install libncurses5-dev libtinfo-dev pps-tools
+apt install python3-distutils
+wget http://download.savannah.gnu.org/releases/gpsd/gpsd-3.21.tar.xz
+tar xvf gpsd-3.21.tar.xz
+cd gpsd-3.21
+ln -s /usr/bin/python3 /usr/bin/python
+scons && scons check && scons udev-install
+}}}
+
+
+[=#DPGS]
+== Differential GPS set up using NTRIP
+Networked Transport of RTCM via Internet Protocol, or [https://en.wikipedia.org/wiki/Networked_Transport_of_RTCM_via_Internet_Protocol NTRIP], is the protocol that allows us to transmit RTK data between the differential gps basestation which has a fixed known position to any number of GPS clients that can use the RTK correction data. The NTRIP standard is designed and published by [https://www.rtcm.org/ RTCM]. You can read more about the NTRIP protocol [https://igs.bkg.bund.de/root_ftp/NTRIP/documentation/NtripDocumentation.pdf here].
+
+Acquiring RTK correction data for high precision GPS with the GW16143 can be done either by pointing to a preexisting source such as ones posted to [http://www.rtk2go.com/ rtk2go], or setting up a source, server, and caster yourself. Keep in mind that RTK correction data effectiveness is diminished over larger distances. For more specifics, see this great [https://www.researchgate.net/publication/241755023_Exploring_GNSS_RTK_performance_benefits_with_GPS_and_virtual_galileo_measurements publication] of RTK experimental findings by Yanming Feng and Jinling Wang.
+
+There are a number of open source NTRIP utilities to use for setting up a differential GPS system. Some options and the required configuration steps of the GW16143 are described in the following sections.
+
+=== Source
+The first step in the differential GPS system is the server outputting RTK data. In order to output meaningful RTK data, the source (a.k.a. basestation) needs to either be fed a well known coordinate, or in the case of the ZED-F9P told to execute a survey-in process before outputting the {{{RTCM3}}} messages required by our GW16143 NTRIP client.
+
+{{{#!bash
+ubxtool -p MON-VER | grep PROT # find protocol version
+export UBXOPTS="-P 27.11"
+ubxtool -p RESET # factory reset
+ubxtool -e BINARY # enable binary messages
+ubxtool -d NMEA # disable NMEA messages
+ubxtool -p NAV-SVIN # see current survey in status
+ubxtool -e SURVEYIN3 # start survey, defaults to 5 minute survey, 50m or better accuracy
+ubxtool -e RTCM3 # start outputting RTCM messages
+}}}
+
+These {{{RTCM3}}} messages contain the RTK data required for offset calculations client side, and once the device has been configured to output them no additional register modifications are necessary.
+
+=== !Server/Caster
+[http://www.rtklib.com/ RTKlib] has all the components necessary for creating a custom NTRIP server and caster (see the [wiki:expansion/gw16143#CustomSolutions custom solutions] for more info). However if you are looking for a preexisting solution you can use the [https://github.com/Stefal/rtkbase rtkbase] and [https://github.com/baidu/ntripcaster ntripcaster]. Both are open source, ZED-F9P supported, and use RTKlib as examples for further development.
+{{{#!bash
+# rtkbase
+wget https://raw.githubusercontent.com/Stefal/rtkbase/2.1/tools/install.sh -O install.sh
+chmod +x install.sh
+./install.sh --all
+
+# ntripcaster
+git clone https://github.com/baidu/ntripcaster
+cd ntripcaster
+./configure
+make
+make install # installs binary to /usr/local/ntripcaster/bin/ntripcaster
+}}}
+
+See the github links above for configuration steps as they will be specific to your network and preferences. Once you've set up your caster, be sure to modify your caster table appropriately to reflect your settings. See the [https://gssc.esa.int/wp-content/uploads/2018/07/NtripDocumentation.pdf NTRIP documentation] Chapter 6 '''"Source Table"''' for a full table of the composing elements.
+
+=== Client
+
+The firmware that is loaded by default on the GW16143 will allow for an instance of {{{gpsd}}} to feed it RTK data and improve it's fix accuracy. However if you've fiddled with the configuration, or otherwise would like to make sure you're working with defaulted firmware, you can reset the device's configuration registers with {{{ubxtool}}}. Once again keep in mind you may need to run the polling operations of {{{ubxtool}}} more than once depending on asynchronous factors.
+
+{{{#!bash
+# Set protocol and verbosity levels
+export UBXOPTS="-P 27.11 -v 2"
+
+# test ubxtool communication with ZED-F9P
+stty -F /dev/ttyACM0 raw
+ubxtool
+
+# Execute factory reset of configuration registers
+ubxtool -p RESET
+}}}
+
+At this point make sure any default instances of {{{gpsd}}} are closed, then rerun with a valid NTRIP URI as an argument:
+
+{{{#!bash
+# Running gpsd towards ntrip URI
+gpsd -G ntrip://rover:address@rtk2go.com:2101/MSJO1 -D 4 -N -n -s 460800 /dev/ttyACM0
+}}}
+
+At this point the fix provided by the GW16143/ZED-F9P is a result of RTK corrections. 
+
+If you're client device is on a high speed object, take a look at [https://gpsd.io/ubxtool-examples.html#_dynamic_platform_model gpsd's ubxtool example page] and read the section on dynamic platform model. It covers necessary changes required to prevent automatic fix smoothing that is destructive at high speeds.
+
+== Custom Solutions
+Implementing your own software solution will most likely involve the use of [http://www.rtklib.com/ rtklib].  Taken directly from their overview:
+
+{{{RTKLIB}}} is an open source program package for standard and precise positioning with GNSS (global navigation satellite system). {{{RTKLIB}}} consists of a portable program library and several APs (application programs) utilizing the library. The features of {{{RTKLIB}}} are:
+
+1. It supports standard and precise positioning algorithms with:
+
+ GPS, GLONASS, Galileo, QZSS, !BeiDou and SBAS
+
+2. It supports various positioning modes with GNSS for both real-time and post-processing:
+
+ Single, DGPS/DGNSS, Kinematic, Static, Moving-Baseline, Fixed, PPP-Kinematic, PPP-Staticand PPP-Fixed
+
+3. It supports many standard formats and protocols for GNSS:
+
+ RINEX 2.10, 2.11, 2.12 OBS/NAV/GNAV/HNAV/LNAV/QNAV, RINEX 3.00, 3.01, 3.02 OBS/NAV, RINEX 3.02 CLK, RTCM ver.2.3, RTCM ver.3.1 (with amendment 1-5), ver.3.2, BINEX, NTRIP 1.0, RTCA/DO-229C, NMEA 0183, SP3-c, ANTEX 1.4, IONEX 1.0, NGS PCV and EMS 2.0
+
+4. It supports several GNSS receivers' proprietary messages:
+
+ !NovAtel: OEM4/V/6, OEM3, OEMStar, Superstar II, Hemisphere: Eclipse, Crescent, u-blox: LEA-4T/5T/6T, !SkyTraq: S1315F, JAVAD: GRIL/GREIS, Furuno: GW-10 II/III and NVS NV08C BINR (refer the Manual for details)
+
+5. It supports external communication via:
+
+ Serial, TCP/IP, NTRIP, local log file (record and playback) and FTP/HTTP (automatic download)
+
+6. It provides many library functions and APIs for GNSS data processing:
+ Satellite and navigation system functions, matrix and vector functions, time and string functions, coordinates transformation, input and output functions, debug trace functions, platform dependent functions, positioning models, atmosphere models, antenna models, earth tides models, geoid models, datum transformation, RINEX functions, ephemeris and clock functions, precise ephemeris and clock functions, receiver raw data functions, RTCM functions, solution functions, Google Earth KML converter, SBAS functions, options functions, stream data input and output functions, integer ambiguity resolution, standard positioning, precise positioning, post-processing positioning, stream server functions, RTK server functions, downloader functions
+
+7. It includes the following GUI and CUI APs:
+ 
+ ||= Function =||= GUI AP =||= CUI AP =||
+ || AP Launcher || RTKLAUNCH || - ||
+ || Real-Time Positioning || RTKNAVI || RTKRCV ||
+ || Communication Server || STRSVR || STR2STR ||
+ || Post-Processing Analysis || RTKPOST || RNX2RTKP ||
+ || RINEX Converter || RTKCONV || CONVBIN ||
+ || Plot Solutions and Observation Data || RTKPLOT || - ||
+ || Downloader of GNSS Data || RTKGET || - ||
+ || NTRIP Browser || SRCTBLBROWS || - ||
+
+8. All of the executable binary APs for Windows are included in the package as well as whole source programs of the library and the APs.
+
+
+== References
+[https://gpsd.gitlab.io/gpsd/gpsd.html GPSD Home Page]
+
+[https://gpsd.io/ubxtool-examples.html Ubxtool Examples]  
+
+[https://www.u-blox.com/en/docs/UBX-18055649 C099-F9P User Guide]
+
+[http://www.rtklib.com/ rtklib]