[FOSS-GPS] Mobile Robot Experimentation

[Yanqing]

I mean instantaneous , not simultaneous .

Kind regards,
Yanqing

> On 17 Sep 2014, at 23:05, "Sean Hyde" <sean.a.hyde at gmail.com> wrote:
> 
> Hey Guys,
>  
> I’ve been playing around with RTKLib for a couple months now and have run into some issues and I was wondering if anyone had any idea on how to improve performance.
>  
> ---Setup---
> Base Station:
> NVS08C on custom PCB using the receiver to power the antenna
> Antenna is Taoglas Limited AA.161.301111 (http://www.taoglas.com/images/product_images/original_images/AA.161.301111.pdf)
> Antenna is on a 12” x 24” steel plate
> Connected via FTDI->USB to Rasperry Pi
> Raspberry Pi runs str2str to send the data to Windows laptop running rtknavi using wifi backhaul
>  
> Rover:
> NVS08C on custom PCB using the receiver to power the antenna
> Antenna is Taoglas Limited AA.161.301111 (http://www.taoglas.com/images/product_images/original_images/AA.161.301111.pdf)
> Antenna is on a 18” x 18” steel plate
> Connected via FTDI->USB to Rasperry Pi
> Raspberry Pi runs str2str to send the data to Windows laptop running rtknavi using wifi backhaul
>  
> The Rover setup is on a small mobile robot with a top speed of about 3mph.  It is in a city (Pittsburgh), but the sky is relatively unobstructed.
>  
> I’m running rtknavi in Kinematic mode using only GPS, L1+L2, 15deg elevation mask.  The position that I input for the base station is a 5 hour average (though it seems to have lost some precision when I pasted it?).  I have tried both Continuous and Fix and Hold Integer Ambiguity Res.  I’ll try to attach screen shots of rtknavi.
>  
> Right now, it kind of works.  I can get relatively jitter-free floats and occasionally fixes, but these fixes don’t last long and I’m not sure they are actually globally accurate (ie: if you restart the software, you may get a fix, but it may be several meters from your last fix).  Sometimes a fix goes away and never seems to come back.
>  
> I’m wondering if you guys have any suggestions to improve these results.
> Better antennas? (Which ones?)
> Trying to get better placement of the base station?
> Different settings in rtknavi?
> Continuous vs Fix and Hold?
>  
> Thanks!
> -Sean
>  
> <image001.png> <image002.png> <image003.png> <image004.png>
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