From 6ca9882d5205710fbf03b4d63a12d76a178cfa7b Mon Sep 17 00:00:00 2001 From: datagnss Date: Thu, 24 Oct 2024 15:07:36 +0800 Subject: [PATCH] add new model DATAGNSS NANO RTK Receiver - add new model - add datagnss into the store list --- .../docs/common-datagnss-nano-rcv-rtk.rst | 183 ++++++++++++++++++ .../docs/common-positioning-landing-page.rst | 1 + common/source/docs/common-stores.rst | 1 + images/datagnss-nano/NANO-GCS-01-600x.png | Bin 0 -> 126578 bytes .../datagnss-nano/NANO-RCV-02-Total-800x.png | Bin 0 -> 108567 bytes images/datagnss-nano/NANO-RCV-02-main.png | Bin 0 -> 126771 bytes .../datagnss-nano/NANO-total-for-UAV-800x.png | Bin 0 -> 112388 bytes .../datagnss-nano/nano-rcv-02-connector.png | Bin 0 -> 112017 bytes 8 files changed, 185 insertions(+) create mode 100644 common/source/docs/common-datagnss-nano-rcv-rtk.rst create mode 100644 images/datagnss-nano/NANO-GCS-01-600x.png create mode 100644 images/datagnss-nano/NANO-RCV-02-Total-800x.png create mode 100644 images/datagnss-nano/NANO-RCV-02-main.png create mode 100644 images/datagnss-nano/NANO-total-for-UAV-800x.png create mode 100644 images/datagnss-nano/nano-rcv-02-connector.png diff --git a/common/source/docs/common-datagnss-nano-rcv-rtk.rst b/common/source/docs/common-datagnss-nano-rcv-rtk.rst new file mode 100644 index 0000000000..741bec348b --- /dev/null +++ b/common/source/docs/common-datagnss-nano-rcv-rtk.rst @@ -0,0 +1,183 @@ +.. _common-datagnss-nano-rcv-rtk: + +======================= +NANO Helix RTK receiver +======================= +NANO Helix RTK receiver is a high-precision RTK receiver designed and manufactured by DATAGNSS. + +It's based on the new generation Allystar dual-core GNSS SoC. It supports RTK functionality with a maximum data update rate of 5Hz. +It includes two models, one is v1.0.0 without compass, and another is Rev.A with compass. + +.. image:: ../../../images/datagnss-nano/NANO-RCV-02-main.png + :target: ../_images/datagnss-nano/NANO-RCV-02-main.png + +.. note:: NANO Helix RTK Receiver doesn't support Moving Base mode. + +Where to Buy +============ + +- `DATAGNSS website `_ + +Key Features +============ + +- GPS/QZSS/BDS/GLONASS/GALILEO/IRNSS +- Multi-bands, support L1+L5/L1+L2 +- Support RTK,output rate 5Hz +- Standard UART serial interface +- Lightweight only 26g +- High performance antenna + +GNSS +==== + - Allystar CYNOSURE IV GNSS SOC + - Dual core + - 3D accuracy: **1.5m** CEP + - RTK accuracy: **2cm** +1PPM(H), 3cm+1PPM(V) + +Interface +========= + - UART, 230400bps default + - SMA connector for antenna + - Output rate 5Hz default + - Main power supply,4.7~5.2V + +Protocol +======== + - NMEA-0183 output + - RTCMv3 input/output + +Environment +=========== + - Operating temp. -20~85℃ + +Dimession and weight +==================== + - 65*30mm + - 26g + +Pin definition +============== +The board is connected to the autopilot via UART interface. + +.. image:: ../../../images/datagnss-nano/nano-rcv-02-connector.png + :target: ../_images/datagnss-nano/nano-rcv-02-connector.png + +The 1.25mm pitch 6P connector (from Left PIN1 to PIN6) : + + - 1: GND + - 2: NC + - 3: NC + - 4: Rx + - 5: Tx + - 6: 5V + +Please note that only Rev.A includes RTK and compass. +If the model support compass, pin2 and pin3 output compass I2C interface. + +ArduPilot Setup +=============== +For example, NANO Helix RTK Receiver is connected to the autopilot's SERIAL4 port, it should work with : + +- :ref:`SERIAL4_PROTOCOL ` = 5 + + +Configuration +============= +RTK technology requires a base and a rover, with the base placed on the ground, which is referred to as the rover on the drone. + +The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover. + +.. image:: ../../../images/gem1305/setup-rtk-00.png + :target: ../_images/gem1305/setup-rtk-00.png + +NANO RTK Receiver family for UAV: + +.. image:: ../../../images/datagnss-nano/NANO-total-for-UAV-800x.png + :target: ../_images/datagnss-nano/NANO-total-for-UAV-800x.png + +Base station setup +================== + +.. image:: ../../../images/datagnss-nano/NANO-GCS-01-600x.png + :target: ../_images/datagnss-nano/NANO-GCS-01-600x.png + +Connect the NANO RTK Receiver to your Laptop via USB. + +Setup the NANO RTK Receiver as a base station, and it is recommended to use Satrack software. + +- `Download Satrack `_ + +1. Open Satrack, then choose the com port, baud rate then connect the nano-rtk-rcv. + + .. image:: ../../../images/gem1305/satrack-connect-device.png + :target: ../_images/gem1305/satrack-connect-device.png + + +2. Enable RTCMv3 output + + .. image:: ../../../images/gem1305/satrack-rtcm-output.png + :target: ../_images/gem1305/satrack-rtcm-output.png + + +3. Disable NMEA data output + + .. image:: ../../../images/gem1305/satrack-disable-nmea.png + :target: ../_images/gem1305/satrack-disable-nmea.png + +4. Config output rate to 1Hz + + In base station mode, the RTCM data output rate must be set to 1Hz. + + .. image:: ../../../images/gem1305/satrack-outputrate-1hz.png + :target: ../_images/gem1305/satrack-outputrate-1hz.png + +5. Config the base station fixed coordinates + + There are two methods to set the coordinates of the base station: + + 5.1 According to the diagram below, Input the known coordinates. + + Press ``Get now``, and modify the coordinates to the known values, then ``Send`` to apply the fixed coordinates. + + .. image:: ../../../images/gem1305/satrack-cfg-fixedecef.png + :target: ../_images/gem1305/satrack-cfg-fixedecef.png + + 5.2 or, using the ``CFG-SURVEY`` meassage, config ``miniDuration`` and ``AccLimit``, then automatically calculate the average before proceeding with the setup. + + .. image:: ../../../images/gem1305/satrack-cfg-survey.png + :target: ../_images/gem1305/satrack-cfg-survey.png + + After completing the above operation, you can save the current configuration with ``CFG-SAVE`` message. + +6. After completing the above configuration, open Mission Planner and finish the configuration on this page: + +.. image:: ../../../images/gem1305/mp-connect-base.png + :target: ../_images/gem1305/mp-connect-base.png + + +Rover station (Aircraft) setup +============================== + +.. image:: ../../../images/datagnss-nano/NANO-RCV-02-Total-800x.png + :target: ../_images/datagnss-nano/NANO-RCV-02-Total-800x.png + +You need to confirm in the Satrack software that all RTCM data outputs are disabled and all NMEA outputs are enabled. + +In Rover mode, the output rate must be set to 5Hz. + +.. note:: NANO Helix RTK Receiver do not support safety switch, so BRD_SAFETY_DEFLT needs to be set to 0 or a separate safety switch should be connected to the flight controller. + +After completing the above settings, you can write parameters to the flight controller. + +Resource +======== + - `DATAGNSS WiKi `__ + +More information +================ + + - `NANO Helix RTK Receiver `__ + - `HELIX Antenna for RTK `__ + - `RTK Antenna AGR6302G `__ + - `AT400 RTK Antenna `__ diff --git a/common/source/docs/common-positioning-landing-page.rst b/common/source/docs/common-positioning-landing-page.rst index 8987072375..16d08897bc 100644 --- a/common/source/docs/common-positioning-landing-page.rst +++ b/common/source/docs/common-positioning-landing-page.rst @@ -56,6 +56,7 @@ These GPS can incorporate real time kinematic data, either internally generated CUAV C-RTK2 PPK and RTK receiver CUAV C-RTK2 HP Heading and RTK receiver DATAGNSS GEM1305 RTK Receiver + DATAGNSS NANO RTK Receiver Emlid Reach RTK Receiver CubePilot HERE 3/3+ DroneCAN RTK GPS/IMU/Compass CubePilot HERE 4 DroneCAN RTK GPS/IMU/Compass (see note below) diff --git a/common/source/docs/common-stores.rst b/common/source/docs/common-stores.rst index ef59ece82e..e954617cd9 100644 --- a/common/source/docs/common-stores.rst +++ b/common/source/docs/common-stores.rst @@ -20,6 +20,7 @@ recommended for use with ArduPilot (in alphabetical order). 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