Hello Felipe,
What do you mean by “process base versus CORS”? Do you mean running rtknavi with the CORS as an input? The Rover was operating within 30m of the base, but I can try it closer if that would help. On the next test, I will let the Rover idle for a while before starting the test. The antenna (or rather the steel plate) is the highest point on the robot (by about 30cm). The base, however is rather low to the ground and I am trying to build something to elevate it more. -Sean From: [email protected] [mailto:[email protected]] On Behalf Of Felipe G. Nievinski Sent: Wednesday, September 17, 2014 9:50 PM To: [email protected] Subject: Re: [FOSS-GPS] Mobile Robot Experimentation before anything else, check what accuracy you get with the rover parked for a couple of hours. to isolate which one between rover and base is noisier, download data from the nearby CORS, then process your base versus CORS and your rover versus CORS separately. keep your base as close as possible to the rover. that's the best way to mitigate iono delay without dual-frequency tracking data. turn on the GPS on the rover for some time before it departs, as it should help with ambiguity resolution. try to elevate the antenna above the body of the robot, so as to minimize multipath and EM interference. On Wed, Sep 17, 2014 at 6:06 PM, <[email protected] <mailto:[email protected]> > wrote: Send FOSS-GPS mailing list submissions to [email protected] <mailto:[email protected]> To subscribe or unsubscribe via the World Wide Web, visit http://lists.osgeo.org/mailman/listinfo/foss-gps or, via email, send a message with subject or body 'help' to [email protected] <mailto:[email protected]> You can reach the person managing the list at [email protected] <mailto:[email protected]> When replying, please edit your Subject line so it is more specific than "Re: Contents of FOSS-GPS digest..." Today's Topics: 1. Mobile Robot Experimentation (Sean Hyde) ---------------------------------------------------------------------- Message: 1 Date: Wed, 17 Sep 2014 17:05:35 -0400 From: "Sean Hyde" <[email protected] <mailto:[email protected]> > To: <[email protected] <mailto:[email protected]> > Subject: [FOSS-GPS] Mobile Robot Experimentation Message-ID: <[email protected] <http://gmail.com> > Content-Type: text/plain; charset="us-ascii" 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. <http://www.taoglas.com/images/product_images/original_images/AA.161.301111.pdf> 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. <http://www.taoglas.com/images/product_images/original_images/AA.161.301111.pdf> 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? 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