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Parameter name | Description | Default |
|---|---|---|
type | Data output format for gnss data source. Currently only | NMEA |
port | Serial port number for gnss source. | |
baudrate | Serial port baudrate to connect to gnss GNSS source.
| /dev/tty with ttyUSB0 |
rtcm | Set true to enable RTCM correction data forwarding from RTCM source to gnss module. | false |
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|   |
The IMU sensor can be mounted in any way but the ImuToCarRotation quaternion needs to be provided to transform the IMU data into VW frame. For example, if the IMU is mounted like follows:
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In the case of LPVR-POS the above-mentioned rover is the vehicle that contains the computer running LPVR-POS. To enable GPS with centimeter accuracy, we need to install a base station in a fixed location in the vicinity of the vehicle, or alternatively use an available NTRIP service. We will focus here on setting up a base station as in this way wer we are location and infrastructure independent.
| Info |
|---|
Note that both, the base station as well as the vehicle need to be connected to the internet in order to make communication between the two work. You can directly insert a SIM card into the Emlid RS2+ base station that we optionally provide with LPVR-POS. |
Components
 |  |
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In order to set up an RTK GPS system to work with LPVR-POS follow the below steps. You need to do these steps only once, after that the system should be ready to work when you turn it on:
Set up an NTRIP caster service by creating a free Emlid Flow account. Note that you only need the free version.
Set up the Emlid RS2+ base station. A detailed guide how to connect it to the internet using a SIM Connect the ZED-F9P RTK GNSS receiver board to the computer running FusionHub.
The RTK-GPS board communicates with the computer using a virtual COM port. In case of using a Windows system, determine the address of the COM port by looking at the device manager. In the example below the ZED-F9P, our RTK-GPS module, has the address COM4. Enter this address in the GNSS node configuration.
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| Code Block |
|---|
"gnss": {
"type": "NMEA",
"settings": {
"port": "/dev/ttyUSB0",
"baudrate": 115200,
"rtcm": true
}
} |
Set up an NTRIP caster service by creating a free Emlid Flow account. Note that you only need the free version.
Set up the Emlid RS2+ base station. A detailed guide how to connect it to the internet using a SIM card is here: https://docs.emlid.com/reachrs2/rtk-quickstart/connecting-reach-to-the-internet/enabling-cellular-modem
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Next, adjust the base station settings so that the base station outputs correction data to our NTRIP caster: https://docs.emlid.com/reachrs2/rtk-quickstart/base-rover-setup Note that we only need to follow the instructions on setting up the base station, the rover we set up via the FusionHub interface.
Configure the base station to talk to our Emlid Flow account: https://docs.emlid.com/emlid-caster/emlid-caster-base-rover-connection
Set up FusionHub to receive RTCM data from the Emlid Flow caster:
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