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Code Block
"imu": {
  "type": "OpenZen",
  "settings": {
    "autodetectType": "ig1"
  }
},

"RTCM": {
    "type": "NTRIP",
    "settings": {
        "host": "some-host-name",
        "port": "2101",
        "mountpoint": "some-mount-point",
        "user": "some-user",
        "password": "some-password",
        "userAgent": "LPVR",
        "initialLatitude": 35.65736,
        "initialLongitude": 139.73239,
        "forwardGnss":  true
    }
},

"gnss": {
    "type": "NMEA",
    "settings": {
        "port": "/dev/ttyUSB0",
        "baudrate": 115200,
        "rtcm": true
    }
},

RTCM Source

Parameter name

Description

Default

type

Type of RTCM correction data source. Currently only NTRIP is allowed.

NTRIP

host

NTrip caster host.

192.168.1.1

port

NTrip caster port.

2101

mountpoint

NTrip mountpoint or stream to receive rtcm correction data.

user

NTrip caster username.

password

NTrip caster password.

userAgent

Name of user agent when connecting to NTrip caster.

LPVR-POS

initialLatitude

Latitude to forward to Ntrip caster on first connect.

0.0

initialLongitude

Longitude to forward to Ntrip caster on first connect.

0.0

forwardGnss

Set true if gnss data from gnss source is to be forwarded to NTRIP caster. This is useful if Ntrip caster offers dynamic switching of RTCM correction data based on forwarded location.

false

GNSS Source

Parameter name

Description

Default

type

Data output format for gnss data source. Currently only NMEA is allowed.

NMEA

port

Serial port number for gnss source.

baudrate

Serial port baudrate to connect to gnss source.

rtcm

Set true to enable RTCM correction data forwarding from RTCM source to gnss module.

false

...

Code Block
"imuP": {
    "type": "DualRtk",
    "settings": {
        "sensor1": {
            // If specification needed, insert first IG1 sensor name here
            //"name": "ig1p232800650050",
            "autodetectType": "ig1p"
        },
        "rtcm": true,
        "imuEndpoint": "tcp://*:8802"
    }
}

  • Alternatively for case with separate IMU and RTK GPS sources (with NTRIP Caster for RTK correction)

Code Block
"imu": {
  "type": "OpenZen",
  "settings": {
    "autodetectType": "ig1"
  }
},

"RTCM": {
    "type": "NTRIP",
    "settings": {
        "host": "some-host-name",
        "port": "2101",
        "mountpoint": "some-mount-point",
        "user": "some-user",
        "password": "some-password",
        "userAgent": "LPVR",
        "initialLatitude": 35.65736,
        "initialLongitude": 139.73239,
        "forwardGnss":  true
    }
},

"gnss": {
    "type": "NMEA",
    "settings": {
        "port": "/dev/ttyUSB0",
        "baudrate": 115200,
        "rtcm": true
    }
},

RTCM Source

Parameter name

Description

Default

type

Type of RTCM correction data source. Currently only NTRIP is allowed.

NTRIP

host

NTrip caster host.

192.168.1.1

port

NTrip caster port.

2101

mountpoint

NTrip mountpoint or stream to receive rtcm correction data.

user

NTrip caster username.

password

NTrip caster password.

userAgent

Name of user agent when connecting to NTrip caster.

LPVR-POS

initialLatitude

Latitude to forward to Ntrip caster on first connect.

0.0

initialLongitude

Longitude to forward to Ntrip caster on first connect.

0.0

forwardGnss

Set true if gnss data from gnss source is to be forwarded to NTRIP caster. This is useful if Ntrip caster offers dynamic switching of RTCM correction data based on forwarded location.

false

GNSS Source

Parameter name

Description

Default

type

Data output format for gnss data source. Currently only NMEA is allowed.

NMEA

port

Serial port number for gnss source.

baudrate

Serial port baudrate to connect to gnss source.

rtcm

Set true to enable RTCM correction data forwarding from RTCM source to gnss module.

false

  • CAN bus and vehicle decoder source

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