GR-901U GNSSレシーバーUSB

Navisys Technology Corp. GPSサポート

本体及び付属品

  • GR901U本体 USB TypeA アンテナ内蔵 x1

    + Option 台座(底部マグネット) → GR-901V 

  • GR-901V

  • GR-901U

特徴

ZED-F9P搭載 アンテナ内蔵一体型GNSSレシーバー USBインターフェイス
  • 2周波(L1/L2 Dual Band)マルチ受信GNSS  GPS/QZSS/GLONASS/BEIDOU/GALILEO/WAAS SBAS
  • 高速なRTK fix(数十秒内) センチメートル精度を出力 RTK Rover/Base両システムにご利用いただけます。
  • ビルの谷間など受信環境の悪いところでもセンチメートル精度が可能です。
  • 仮想COMポート・Windows Location Sensor対応
  • EMIシールド加工
  • 防水 IPX7

GR-901U/V (Ucustomized) GNSS USB

GPS u-blox ZED-F9P 184ch
受信周波数

GPS/QZSS/SBAS L1C/A(1575.42) L2C(1227.60)

GLONASS L1OF(1602+k*0.5625,K-7,,5,6)/L2OF(1246+k*0.5625,K-7,,5,6)

GALILEO E1-B/C(1575.42)E5b(1207.140)

BeiDou B1l(1561.098)B2l(1207.140)

位置精度 RTK:1cm+1ppmCEP SBAS:1mCEP PVT:1.5mCEP
速度正確度 速度 0.05m/秒 方位 0.3度
TTFF 25/2/2秒 Cold/As/Hot
受信感度 -167dBm(Tracking&Navi)-148dBm(Acquisition)
更新 (GP&GL&GA&BE/GP&BE/GPS) RTK:8/15/20Hz PVT:10/25/25Hz RAW:20/25/25Hz
Moving BaseモードRTK性能 (GP&GL&GA&BE/GP&BE/GPS)Max Update rate 8/10/10Hz 方位角正確度0.4/0.4/0.4°
高度 50,000m limit
速度 500m/秒 limit
加速度 <4g
プロトコル

    NMEA 0183v4.11 ASCII UBX独自プロトコル/binary RTCM3.3 binary

    UART 1 460800bps ,N81 UART1 38400bps

    初期設定 UART1: NMEA,UBX,RTCM3.3 NMEA出力のみ UART2: RTCM3.3 出力無しNMEA無効UBXサポート無し

補強システムサポート

    QZSS: Support L1S SLAS Correction data broadcasted on L1

    SBAS:WAAS, EGNOS, MSAS, GAGANDGNSS: RTCM 10403.3

  • Rover mode messages: (RTCM)1001~1012, 1033, 1074, 1075, 1077, 1084, 1085, 1087,1094, 1095, 1097, 1124, 1125, 1127
  • Base mode messages: (RTCM)1005, 1074, 1077, 1084, 1087, 1094,1097, 1124, 1127, 1230, 4072.0, 4072.1
電源電圧 DC5V (33mA 標準)USB2.0
本体サイズ 116mm(直径)×24.6㎜(高)  台座70㎜(径)×33㎜(高さ)
ケーブル USB Type A 1.5m
インターフェイス USB(Windows USB serial Driver)/Sensor(u-blox GNSS Sensor Device Driver for Windows)
ストレージ温度 -40℃~85℃
バッテリ温度 -20℃~60℃
湿度 95%(結露しない)
防水 IPX7
振動 5Hz-500Hz 5g
振動正弦半波衝撃パルス 30g 11ms
Certification RoHS
USB A Type Pin 1 Vin Pin2,3 USB IF Pin4 GND
LED Color LED(緑) ON 探索中 LED(緑)点滅 捕捉
RTK LED Color LED(オレンジ) 点灯-FIX 点滅-計算中 OFF-入力RTCMデータなし

Windows10セットアップ (u-center/USB serial driver)

ucenter download

u-centerインストール

u-center for Windows解凍(展開)後 u-center_v21.05を実行しインストールを行います。

VCP(COMポート)で接続する

コンポーネント選択ではu-centerとDriversにUse Windows USB Serial Driverにチェックが入っています。 このまま変更せずに進め、インストールを完了します。
センサードライバー
をインストールした場合はデバイスマネージャーセンサーの項にu-blox GNSS Location Sensor(or u-blox Universal GNSS)と表示されています。 別途COMポートで接続する場合USBシリアルデバイスへドライバーの更新を行います(→FAQ)。 参考C: \ Program Files (x86) \ Windows kits \ 10 \ Tools \ x64 \sensordiagnostictool.exe
NaviViewerUbインストール

ダウンロード(NaviViewerUb_v0.0.1.0_20200401.zip)後に展開(解凍)しNaviViewerUV_v0.0.1.0.exeを実行します。

COMポート(USBシリアルデバイス COMxx)、ボーレート9600(他でも可能)bpsを選択しOpen Portをクリックします

 
u-center 21.0.5
  ├── File
  ├── Edit
  ├── View
      ├── Packet Console
      ├── Binary Console
      ├── Text Console
      ├── Message View
   ├── Configuration View
      ├── (Generation 9 Configuration View)
      ├── Statics View
      ├── Table View
      ├── Recent Table View
      ├── Chart View
      ├── Recent Chart View
      ├── Histgram View
      ├── Recent Histgram View
      ├── (GNSS Driver View)
      ├── Map View
      ├── Recent Static Map View
      ├── Camera View
      ├── Daviation Map
      ├── Sky View
      ├── Docking Windows
      └── Toolbars
  ├── Player
  ├── Reciver
      ├── Connection
      ├── Baudrate
  ├── Tools
  ├── Windows
  └── Help
     ├── Configuration View
    	  ├── ANT(Antena Setting)
    	  ├── BATCH
    	  ├── CFG(Configuration)
    	  |   └── Revert to last saved configuration
    	  |   └── Revert all but ANT default configuration
    	  |   └── Revert default configuration 工場出荷状態に戻す
    	  |   └── Save current configuration 変更を保存
    	  |   └── User defined configuration
    	  │
    	  ├── DAT(Datum)
    	  |   └── WGS84
    	  ├── DGNSS (Differential GNSS configuration)
    	  |   └── 3=RTK fixed: Ambiguities are fixed whenever possible.
    	  
    	  ├── GNSS(GNSS Config) generation 9 configuration へ
    	  
    	  ├── MSG(Messages)
    	  |  └── 02-15 RXM-RAWX USB 1
    	  |  └── 02-13 RXM-SFRBX USB 1
    	  |  └── F0-00 NMEA GxGGA
    	  |  
    	  |   └── F0-04 NMEA GxRMC
    	  |   
    	  |   └── F0-0D NMEA GxGNS
    	  |   
    	  ├── NAV5(Navigation 5)
    	  |   └── Navigation Modes
    	  |   |   └── Dynamic ModelPortable
    	  |   |   └── Fix Mode
    	  |   |   └── UTC Standard
    	  |   └── Navigation Input filters
    	  |   └── Navigation output filters
    	  ├── NAVX5(Navigation Expert 5)
    	  |   └── Navigation Input Filters
    	  |   └── Miscellaneous
    	  |   |   └── GPS Week rollover(2098)
    	  |   └── AssistNow Autonomous
    	  |   └── ADR/UDR
    	  |   └── Sugnal Atenuaton Compensation
    	  ├── NMEA(NMEA Protocol)
    	  |   └── CFG-NMEA-DATA2
    	  |   |   └── Filters
    	  |   |   └── NMEA Version
    	  |   |   |   └── 2.1/2.3/4.0/4.10/4.11
    	  |   |   └── Max SVs per Talker Id
    	  |   |   └── Mode Flags
    	  |   |   |   └── Conmatibility/Consider/Stict limit 82ch max
    	  |   |   |       /High precision mode
    	  |   |   └── GNSS to filter out
    	  |   |   └── Numberring used for SVs not supported by NMEA 0/1 3digit
    	  |   |   └── Main Talker ID 0/1 2-5
    	  |   |   └── GSV Talker ID 0
    	  |   |   └── BeiDou Talker ID
    	  
    	  ├── PRT(Ports)
    	  |   └── Target 1 UART1
    	  |   └── Protocol in 0+1+5 
    	  |   └── Protocol out 0+1+5 
    	  |   └── Baudrate 408600
    	  
    	  ├── RATE(Rates)
    	  |   └── Time Source 1 GPS time
    	  |   └── Measurement Period 100[ms] 
    	  |   └── (Measurement Frequency 10.0[Hz])
    	  |   └── (Navigation Rate 1[cyc])
    	  |   └── (Navigation Frequency 10.0[Hz])
    	  
    	  ├── TMODE3(Time Mode)
    	  |   └── Mode 0 Disabled (1-Survey-in Time Required Position Acc /2-Fixed Mode Fixed Position XYZ 0.000-
    	  
    	  └── VALSET(Set Configuration Item Values )
    	  CFG-MSGOUT-RTCM_3X_TYPE1005_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1077_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1087_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1097_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1127_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1230_USB 1
    	  
    	  CFG-TMODE-MODE 	2-FIXED
    	  CFG-TMODE-POS_TYPE 	1-LLH
    	  CFG-TMODE-LAT 		緯度(小数点以下7桁まで)35.1234567→351234567
    	  CFG-TMODE-LAT_HP 		緯度(小数点以下8,9桁部分)89
    	  CFG-TMODE-LON 		経度(小数点以下7桁まで)
    	  CFG-TMODE-LON_HP 		経度(89桁部分)
    	  CFG-TMODE-HEIGHT		高度 CM 単位 100.12m → 10012
    	  CFG-TMODE-HEIGHT_HP 	高度 0.1㎜部分 100.1234m →34
GNSSデフォルトコンフィグ

MON-VER - 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 31 2E 30 30 20 28 66 31 30 63 33 36 29 00 00 00 00 00 00 00 00 30 30 31 39 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 30 78 31 31 38 42 32 30 36 30 00 00 00 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 31 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 37 2E 31 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 5A 45 44 2D 46 39 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 47 41 4C 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 53 42 41 53 3B 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
CFG-VALGET - 06 8B 44 01 01 00 00 00 01 00 01 10 00 01 01 01 10 00 09 00 04 10 00 07 00 05 10 01 08 00 05 10 01 09 00 05 10 01 0A 00 05 10 01 0B 00 05 10 01 33 00 05 10 01 12 00 11 10 00 13 00 11 10 00 14 00 11 10 01 15 00 11 10 01 16 00 11 10 01 18 00 11 10 01 1B 00 11 10 00 25 00 11 10 00 46 00 11 10 01 52 00 11 10 00 53 00 11 10 00 61 00 11 10 00 81 00 11 10 00 82 00 11 10 00 83 00 11 10 00 51 00 14 10 00 52 00 14 10 00 53 00 14 10 00 05 00 21 10 00 01 00 22 10 00 02 00 22 10 00 03 00 22 10 00 04 00 22 10 00 12 00 24 10 00 20 00 24 10 00 30 00 24 10 00 40 00 24 10 00 50 00 24 10 00 01 00 25 10 01 01 00 31 10 01 03 00 31 10 01 05 00 31 10 01 07 00 31 10 01 0A 00 31 10 01 0D 00 31 10 01 0E 00 31 10 01 12 00 31 10 01 14 00 31 10 00 15 00 31 10 01 18 00 31 10 01 1A 00 31 10 01 1F 00 31 10 01 20 00 31 10 01 21 00 31 10 01 22 00 31 10 01 24 00 31 10 01 25 00 31 10 01 27 00 31 10 01 01 00 33 10 00 02 00 33 10 00 03 00 33 10 00 11 00 33 10 00 01 00 34 10 00 02 00 34 10 00 03 00 34 10 01
CFG-VALGET - 06 8B 44 01 01 00 40 00 04 00 34 10 00 11 00 34 10 00 14 00 34 10 00 01 00 35 10 00 02 00 35 10 00 03 00 35 10 00 04 00 35 10 00 02 00 36 10 00 03 00 36 10 01 04 00 36 10 01 05 00 36 10 00 02 00 37 10 00 03 00 37 10 00 05 00 37 10 01 06 00 37 10 00 07 00 37 10 00 07 00 41 10 01 09 00 41 10 01 0A 00 41 10 01 0B 00 41 10 00 0C 00 41 10 01 0D 00 41 10 00 13 00 41 10 00 02 00 51 10 00 03 00 51 10 01 05 00 52 10 01 06 00 52 10 00 07 00 52 10 00 05 00 53 10 01 06 00 53 10 00 07 00 53 10 00 02 00 64 10 00 03 00 64 10 00 04 00 64 10 00 05 00 64 10 00 06 00 64 10 00 07 00 64 10 00 01 00 65 10 01 02 00 65 10 01 03 00 65 10 00 05 00 65 10 00 06 00 65 10 00 07 00 65 10 00 08 00 65 10 00 09 00 65 10 00 01 00 71 10 01 02 00 71 10 01 04 00 71 10 01 01 00 72 10 01 02 00 72 10 01 04 00 72 10 01 01 00 73 10 01 02 00 73 10 01 04 00 73 10 01 01 00 74 10 01 02 00 74 10 01 04 00 74 10 01 01 00 75 10 00 02 00 75 10 00 04 00 75 10 01 01 00 76 10 00 02 00 76 10 00 04 00 76 10 01 01 00 77 10 01
CFG-VALGET - 06 8B 44 01 01 00 80 00 02 00 77 10 01 04 00 77 10 01 01 00 78 10 01 02 00 78 10 01 04 00 78 10 01 01 00 79 10 01 02 00 79 10 01 04 00 79 10 01 01 00 7A 10 01 02 00 7A 10 01 04 00 7A 10 01 01 00 81 10 00 02 00 81 10 00 03 00 81 10 00 04 00 81 10 00 05 00 81 10 00 01 00 82 10 00 02 00 82 10 00 03 00 82 10 00 04 00 82 10 00 05 00 82 10 00 01 00 83 10 00 02 00 83 10 00 03 00 83 10 00 04 00 83 10 00 05 00 83 10 00 01 00 84 10 00 02 00 84 10 00 03 00 84 10 00 04 00 84 10 00 05 00 84 10 00 01 00 85 10 00 02 00 85 10 00 03 00 85 10 00 04 00 85 10 00 05 00 85 10 00 03 00 93 10 00 04 00 93 10 01 05 00 93 10 00 06 00 93 10 00 11 00 93 10 00 12 00 93 10 00 13 00 93 10 00 15 00 93 10 00 16 00 93 10 00 17 00 93 10 00 21 00 93 10 00 22 00 93 10 00 23 00 93 10 00 24 00 93 10 00 25 00 93 10 00 26 00 93 10 00 01 00 A1 10 00 02 00 A1 10 00 03 00 A1 10 01 01 00 A2 10 00 02 00 A2 10 00 02 00 A3 10 01 07 00 A3 10 00 08 00 A3 10 01 09 00 A3 10 01 0A 00 A3 10 00 0B 00 A3 10 00 0C 00 A3 10 00
CFG-VALGET - 06 8B 44 01 01 00 C0 00 0D 00 A3 10 00 0E 00 A3 10 01 10 00 A3 10 00 11 00 A3 10 01 18 00 A3 10 00 19 00 A3 10 00 29 00 A3 10 00 2C 00 A3 10 00 2E 00 A3 10 00 2F 00 A3 10 00 30 00 A3 10 01 31 00 A3 10 00 32 00 A3 10 01 33 00 A3 10 00 34 00 A3 10 01 35 00 A3 10 00 47 00 A3 10 01 56 00 A3 10 00 58 00 A3 10 00 59 00 A3 10 00 5A 00 A3 10 01 5B 00 A3 10 00 5C 00 A3 10 00 5D 00 A3 10 01 04 00 A5 10 00 02 00 C6 10 00 01 00 C7 10 01 02 00 C7 10 00 02 00 DE 10 00 03 00 DE 10 00 04 00 DE 10 00 09 00 F6 10 00 11 00 01 20 00 21 00 01 20 00 31 00 01 20 00 41 00 01 20 00 51 00 01 20 00 61 00 01 20 00 71 00 01 20 00 81 00 01 20 00 91 00 01 20 00 A1 00 01 20 00 B1 00 01 20 00 C1 00 01 20 00 D1 00 01 20 00 E1 00 01 20 00 11 01 01 20 00 21 01 01 20 00 31 01 01 20 00 41 01 01 20 00 51 01 01 20 00 61 01 01 20 00 71 01 01 20 00 81 01 01 20 00 91 01 01 20 00 A1 01 01 20 00 B1 01 01 20 00 C1 01 01 20 00 D1 01 01 20 00 E1 01 01 20 00 01 00 03 20 00 02 00 03 20 00 06 00 03 20 00 07 00 03 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 01 08 00 03 20 00 0C 00 03 20 00 0D 00 03 20 00 0E 00 03 20 00 0C 00 05 20 00 23 00 05 20 00 30 00 05 20 01 02 00 09 20 16 03 00 09 20 17 04 00 09 20 18 05 00 09 20 1E 06 00 09 20 1F 07 00 09 20 20 09 00 09 20 00 11 00 11 20 03 1A 00 11 20 12 1C 00 11 20 00 20 00 11 20 64 21 00 11 20 00 22 00 11 20 00 23 00 11 20 00 24 00 11 20 01 26 00 11 20 00 42 00 11 20 02 43 00 11 20 03 44 00 11 20 01 45 00 11 20 01 51 00 11 20 00 A1 00 11 20 03 A2 00 11 20 20 A3 00 11 20 06 A4 00 11 20 0A AA 00 11 20 00 AB 00 11 20 00 C4 00 11 20 3C D5 00 11 20 00 11 00 14 20 03 54 00 14 20 01 03 00 21 20 01 05 00 22 20 00 11 00 22 20 19 12 00 22 20 32 13 00 22 20 19 14 00 22 20 66 21 00 22 20 0A 22 00 22 20 32 31 00 22 20 99 32 00 22 20 4C 11 00 24 20 00 13 00 24 20 00 14 00 24 20 03 38 00 25 20 00 05 00 34 20 0A 07 00 34 20 37 21 00 34 20 00 22 00 34 20 02 01 00 41 20 03 02 00 41 20 0F 03 00 41 20 06 04 00 41 20 0A 05 00 41 20 02 06 00 41 20 06 0E 00 41 20 1E 0F 00 41 20 03
CFG-VALGET - 06 8B 44 01 01 00 40 01 10 00 41 20 00 01 00 51 20 84 02 00 52 20 01 03 00 52 20 00 04 00 52 20 00 08 00 52 20 00 02 00 53 20 01 03 00 53 20 00 04 00 53 20 00 08 00 53 20 00 01 00 64 20 32 08 00 64 20 00 06 00 91 20 00 07 00 91 20 01 08 00 91 20 00 09 00 91 20 01 0A 00 91 20 00 10 00 91 20 00 11 00 91 20 00 12 00 91 20 00 13 00 91 20 00 14 00 91 20 00 15 00 91 20 00 16 00 91 20 00 17 00 91 20 00 18 00 91 20 00 19 00 91 20 00 1A 00 91 20 00 1B 00 91 20 00 1C 00 91 20 00 1D 00 91 20 00 1E 00 91 20 00 24 00 91 20 00 25 00 91 20 00 26 00 91 20 00 27 00 91 20 00 28 00 91 20 00 29 00 91 20 00 2A 00 91 20 00 2B 00 91 20 00 2C 00 91 20 00 2D 00 91 20 00 2E 00 91 20 00 2F 00 91 20 00 30 00 91 20 00 31 00 91 20 00 32 00 91 20 00 33 00 91 20 00 34 00 91 20 00 35 00 91 20 00 36 00 91 20 00 37 00 91 20 00 38 00 91 20 00 39 00 91 20 00 3A 00 91 20 00 3B 00 91 20 00 3C 00 91 20 00 3D 00 91 20 00 3E 00 91 20 00 3F 00 91 20 00 40 00 91 20 00 41 00 91 20 00 42 00 91 20 00 43 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 01 44 00 91 20 00 45 00 91 20 00 46 00 91 20 00 47 00 91 20 00 48 00 91 20 00 49 00 91 20 00 4A 00 91 20 00 4B 00 91 20 00 4C 00 91 20 00 4D 00 91 20 00 4E 00 91 20 00 4F 00 91 20 00 50 00 91 20 00 51 00 91 20 00 52 00 91 20 00 53 00 91 20 00 54 00 91 20 00 55 00 91 20 00 56 00 91 20 00 57 00 91 20 00 58 00 91 20 00 59 00 91 20 00 5A 00 91 20 00 5B 00 91 20 00 5C 00 91 20 00 5D 00 91 20 00 5E 00 91 20 00 5F 00 91 20 00 60 00 91 20 00 61 00 91 20 00 62 00 91 20 00 63 00 91 20 00 64 00 91 20 00 65 00 91 20 00 66 00 91 20 00 67 00 91 20 00 68 00 91 20 00 69 00 91 20 00 6A 00 91 20 00 6B 00 91 20 00 6C 00 91 20 00 6D 00 91 20 00 6E 00 91 20 00 7E 00 91 20 00 7F 00 91 20 00 80 00 91 20 00 81 00 91 20 00 82 00 91 20 00 83 00 91 20 00 84 00 91 20 00 85 00 91 20 00 86 00 91 20 00 87 00 91 20 00 88 00 91 20 00 89 00 91 20 01 8A 00 91 20 00 8B 00 91 20 00 8C 00 91 20 00 8D 00 91 20 00 8E 00 91 20 00 8F 00 91 20 00 90 00 91 20 00 91 00 91 20 00 92 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 C0 01 93 00 91 20 00 94 00 91 20 00 95 00 91 20 00 96 00 91 20 00 A1 00 91 20 00 A2 00 91 20 00 A3 00 91 20 00 A4 00 91 20 00 A5 00 91 20 00 A6 00 91 20 00 A7 00 91 20 00 A8 00 91 20 00 A9 00 91 20 00 AA 00 91 20 00 AB 00 91 20 01 AC 00 91 20 01 AD 00 91 20 01 AE 00 91 20 01 AF 00 91 20 01 B0 00 91 20 01 B1 00 91 20 01 B2 00 91 20 01 B3 00 91 20 01 B4 00 91 20 01 B5 00 91 20 00 B6 00 91 20 00 B7 00 91 20 00 B8 00 91 20 00 B9 00 91 20 00 BA 00 91 20 01 BB 00 91 20 01 BC 00 91 20 01 BD 00 91 20 01 BE 00 91 20 01 BF 00 91 20 01 C0 00 91 20 01 C1 00 91 20 01 C2 00 91 20 01 C3 00 91 20 01 C4 00 91 20 01 C5 00 91 20 01 C6 00 91 20 01 C7 00 91 20 01 C8 00 91 20 01 C9 00 91 20 01 CA 00 91 20 01 CB 00 91 20 01 CC 00 91 20 01 CD 00 91 20 01 CE 00 91 20 00 CF 00 91 20 00 D0 00 91 20 00 D1 00 91 20 00 D2 00 91 20 00 D3 00 91 20 00 D4 00 91 20 00 D5 00 91 20 00 D6 00 91 20 00 D7 00 91 20 00 D8 00 91 20 00 D9 00 91 20 00 DA 00 91 20 00 DB 00 91 20 00 DC 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 02 DD 00 91 20 00 DE 00 91 20 00 DF 00 91 20 00 E0 00 91 20 00 E1 00 91 20 00 E7 00 91 20 00 E8 00 91 20 00 E9 00 91 20 00 EA 00 91 20 00 EB 00 91 20 00 EC 00 91 20 00 ED 00 91 20 00 EE 00 91 20 00 EF 00 91 20 00 F0 00 91 20 00 F1 00 91 20 00 F2 00 91 20 00 F3 00 91 20 00 F4 00 91 20 00 F5 00 91 20 00 F6 00 91 20 00 F7 00 91 20 00 F8 00 91 20 00 F9 00 91 20 00 FA 00 91 20 00 19 01 91 20 00 1A 01 91 20 00 1B 01 91 20 00 1C 01 91 20 00 1D 01 91 20 00 1E 01 91 20 00 1F 01 91 20 00 20 01 91 20 00 21 01 91 20 00 22 01 91 20 00 37 01 91 20 00 38 01 91 20 00 39 01 91 20 00 3A 01 91 20 00 3B 01 91 20 00 41 01 91 20 00 42 01 91 20 00 43 01 91 20 00 44 01 91 20 00 45 01 91 20 00 55 01 91 20 00 56 01 91 20 00 57 01 91 20 00 58 01 91 20 00 59 01 91 20 00 5F 01 91 20 00 60 01 91 20 00 61 01 91 20 00 62 01 91 20 00 63 01 91 20 00 78 01 91 20 00 79 01 91 20 00 7A 01 91 20 00 7B 01 91 20 00 7C 01 91 20 00 7D 01 91 20 00 7E 01 91 20 00 7F 01 91 20 00 80 01 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 40 02 81 01 91 20 00 82 01 91 20 00 83 01 91 20 00 84 01 91 20 00 85 01 91 20 00 86 01 91 20 00 87 01 91 20 00 88 01 91 20 00 89 01 91 20 00 8A 01 91 20 00 8B 01 91 20 00 8C 01 91 20 00 8D 01 91 20 00 8E 01 91 20 00 8F 01 91 20 00 90 01 91 20 00 91 01 91 20 00 92 01 91 20 00 93 01 91 20 00 94 01 91 20 00 95 01 91 20 00 96 01 91 20 00 97 01 91 20 00 98 01 91 20 00 99 01 91 20 00 9A 01 91 20 00 9B 01 91 20 00 9C 01 91 20 00 9D 01 91 20 00 9E 01 91 20 00 9F 01 91 20 00 A0 01 91 20 00 A1 01 91 20 00 A2 01 91 20 00 A3 01 91 20 00 A4 01 91 20 00 A5 01 91 20 00 A6 01 91 20 00 A7 01 91 20 00 A8 01 91 20 00 A9 01 91 20 00 AA 01 91 20 00 AB 01 91 20 00 AC 01 91 20 00 AD 01 91 20 00 AE 01 91 20 00 AF 01 91 20 00 B0 01 91 20 00 B1 01 91 20 00 B2 01 91 20 00 B3 01 91 20 00 B4 01 91 20 00 B5 01 91 20 00 B6 01 91 20 00 B7 01 91 20 00 B8 01 91 20 00 B9 01 91 20 00 BA 01 91 20 00 BB 01 91 20 00 BC 01 91 20 00 BD 01 91 20 00 C8 01 91 20 00 C9 01 91 20 00 CA 01 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 02 CB 01 91 20 00 CC 01 91 20 00 CD 01 91 20 00 CE 01 91 20 00 CF 01 91 20 00 D0 01 91 20 00 D1 01 91 20 00 D2 01 91 20 00 D3 01 91 20 00 D4 01 91 20 00 D5 01 91 20 00 D6 01 91 20 00 D7 01 91 20 00 D8 01 91 20 00 D9 01 91 20 00 DA 01 91 20 00 DB 01 91 20 00 DC 01 91 20 00 DD 01 91 20 00 DE 01 91 20 00 DF 01 91 20 00 E0 01 91 20 00 E1 01 91 20 00 E2 01 91 20 00 E3 01 91 20 00 E4 01 91 20 00 E5 01 91 20 00 E6 01 91 20 00 E7 01 91 20 00 E8 01 91 20 00 E9 01 91 20 00 EA 01 91 20 00 F5 01 91 20 00 F6 01 91 20 00 F7 01 91 20 00 F8 01 91 20 00 F9 01 91 20 00 FF 01 91 20 00 00 02 91 20 00 01 02 91 20 00 02 02 91 20 00 03 02 91 20 00 04 02 91 20 00 05 02 91 20 00 06 02 91 20 00 07 02 91 20 00 08 02 91 20 00 09 02 91 20 00 0A 02 91 20 00 0B 02 91 20 00 0C 02 91 20 00 0D 02 91 20 00 0E 02 91 20 00 0F 02 91 20 00 10 02 91 20 00 11 02 91 20 00 12 02 91 20 00 13 02 91 20 00 14 02 91 20 00 15 02 91 20 00 16 02 91 20 00 17 02 91 20 00 18 02 91 20 00 19 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 C0 02 1A 02 91 20 00 1B 02 91 20 00 1C 02 91 20 00 27 02 91 20 00 28 02 91 20 00 29 02 91 20 00 2A 02 91 20 00 2B 02 91 20 00 2C 02 91 20 00 2D 02 91 20 00 2E 02 91 20 00 2F 02 91 20 00 30 02 91 20 00 31 02 91 20 00 32 02 91 20 00 33 02 91 20 00 34 02 91 20 01 35 02 91 20 00 36 02 91 20 00 37 02 91 20 00 38 02 91 20 00 39 02 91 20 00 3A 02 91 20 00 3B 02 91 20 00 3C 02 91 20 00 3D 02 91 20 00 3E 02 91 20 00 3F 02 91 20 00 40 02 91 20 00 41 02 91 20 00 42 02 91 20 00 43 02 91 20 00 44 02 91 20 00 4A 02 91 20 00 4B 02 91 20 00 4C 02 91 20 00 4D 02 91 20 00 4E 02 91 20 00 54 02 91 20 00 55 02 91 20 00 56 02 91 20 00 57 02 91 20 00 58 02 91 20 00 59 02 91 20 00 5A 02 91 20 00 5B 02 91 20 00 5C 02 91 20 00 5D 02 91 20 00 5E 02 91 20 00 5F 02 91 20 00 60 02 91 20 00 61 02 91 20 00 62 02 91 20 00 63 02 91 20 00 64 02 91 20 00 65 02 91 20 00 66 02 91 20 00 67 02 91 20 00 68 02 91 20 00 69 02 91 20 00 6A 02 91 20 00 6B 02 91 20 00 6C 02 91 20 00 90 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 03 91 02 91 20 00 92 02 91 20 00 93 02 91 20 00 94 02 91 20 00 A4 02 91 20 00 A5 02 91 20 00 A6 02 91 20 00 A7 02 91 20 01 A8 02 91 20 00 A9 02 91 20 00 AA 02 91 20 00 AB 02 91 20 00 AC 02 91 20 00 AD 02 91 20 00 AE 02 91 20 00 AF 02 91 20 00 B0 02 91 20 00 B1 02 91 20 00 B2 02 91 20 00 B3 02 91 20 00 B4 02 91 20 00 B5 02 91 20 00 B6 02 91 20 00 B7 02 91 20 00 B8 02 91 20 00 B9 02 91 20 00 BA 02 91 20 00 BB 02 91 20 00 BC 02 91 20 00 BD 02 91 20 00 BE 02 91 20 01 BF 02 91 20 00 C0 02 91 20 01 C1 02 91 20 00 C2 02 91 20 00 C3 02 91 20 00 C4 02 91 20 00 C5 02 91 20 00 C6 02 91 20 00 CC 02 91 20 00 CD 02 91 20 01 CE 02 91 20 00 CF 02 91 20 01 D0 02 91 20 00 D1 02 91 20 00 D2 02 91 20 01 D3 02 91 20 00 D4 02 91 20 01 D5 02 91 20 00 D6 02 91 20 00 D7 02 91 20 01 D8 02 91 20 00 D9 02 91 20 01 DA 02 91 20 00 F4 02 91 20 00 F5 02 91 20 00 F6 02 91 20 00 F7 02 91 20 00 F8 02 91 20 00 F9 02 91 20 00 FA 02 91 20 00 FB 02 91 20 00 FC 02 91 20 00 FD 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 40 03 FE 02 91 20 00 FF 02 91 20 01 00 03 91 20 00 01 03 91 20 01 02 03 91 20 00 03 03 91 20 00 04 03 91 20 01 05 03 91 20 00 06 03 91 20 01 07 03 91 20 00 08 03 91 20 00 09 03 91 20 00 10 03 91 20 00 11 03 91 20 00 12 03 91 20 00 13 03 91 20 00 14 03 91 20 00 15 03 91 20 00 16 03 91 20 00 17 03 91 20 00 18 03 91 20 00 19 03 91 20 01 1A 03 91 20 00 1B 03 91 20 01 1C 03 91 20 00 2C 03 91 20 00 2D 03 91 20 00 2E 03 91 20 00 2F 03 91 20 00 30 03 91 20 00 31 03 91 20 00 32 03 91 20 00 33 03 91 20 00 34 03 91 20 00 35 03 91 20 00 36 03 91 20 00 37 03 91 20 00 38 03 91 20 00 39 03 91 20 00 3A 03 91 20 00 45 03 91 20 00 46 03 91 20 00 47 03 91 20 00 48 03 91 20 00 49 03 91 20 00 4A 03 91 20 00 4B 03 91 20 00 4C 03 91 20 00 4D 03 91 20 00 4E 03 91 20 00 4F 03 91 20 00 50 03 91 20 00 51 03 91 20 00 52 03 91 20 00 53 03 91 20 00 54 03 91 20 00 55 03 91 20 00 56 03 91 20 00 57 03 91 20 00 58 03 91 20 00 59 03 91 20 00 5A 03 91 20 00 5B 03 91 20 00 5C 03 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 03 5D 03 91 20 00 5E 03 91 20 00 5F 03 91 20 00 60 03 91 20 00 61 03 91 20 00 62 03 91 20 00 63 03 91 20 00 64 03 91 20 00 65 03 91 20 00 66 03 91 20 00 67 03 91 20 00 68 03 91 20 00 69 03 91 20 00 6A 03 91 20 00 6B 03 91 20 00 6C 03 91 20 00 6D 03 91 20 00 6E 03 91 20 00 6F 03 91 20 00 70 03 91 20 00 71 03 91 20 00 7C 03 91 20 00 7D 03 91 20 00 7E 03 91 20 00 7F 03 91 20 00 80 03 91 20 00 81 03 91 20 00 82 03 91 20 01 83 03 91 20 00 84 03 91 20 01 85 03 91 20 00 86 03 91 20 00 87 03 91 20 00 88 03 91 20 00 89 03 91 20 00 8A 03 91 20 00 8B 03 91 20 00 8C 03 91 20 00 8D 03 91 20 00 8E 03 91 20 00 8F 03 91 20 00 90 03 91 20 00 91 03 91 20 00 92 03 91 20 00 93 03 91 20 00 94 03 91 20 00 95 03 91 20 00 96 03 91 20 00 97 03 91 20 00 98 03 91 20 00 99 03 91 20 00 00 04 91 20 00 01 04 91 20 00 02 04 91 20 00 03 04 91 20 00 04 04 91 20 00 0A 04 91 20 00 0B 04 91 20 00 0C 04 91 20 00 0D 04 91 20 00 0E 04 91 20 00 20 04 91 20 00 21 04 91 20 00 22 04 91 20 00
CFG-VALGET - 06 8B 4A 01 01 00 C0 03 23 04 91 20 00 24 04 91 20 00 01 00 92 20 00 02 00 92 20 00 03 00 92 20 00 04 00 92 20 00 05 00 92 20 00 06 00 92 20 07 07 00 92 20 07 08 00 92 20 07 09 00 92 20 07 0A 00 92 20 07 01 00 93 20 29 02 00 93 20 00 07 00 93 20 00 31 00 93 20 00 32 00 93 20 00 03 00 A2 20 00 05 00 A2 20 00 06 00 A3 20 0F 12 00 A3 20 0F 25 00 A3 20 03 36 00 A3 20 10 37 00 A3 20 0F 38 00 A3 20 0E 51 00 A3 20 00 54 00 A3 20 00 55 00 A3 20 00 56 00 A3 20 00 01 00 C5 20 14 02 00 C5 20 8C 01 00 C6 20 08 04 00 C6 20 00 06 00 C6 20 01 08 00 C6 20 00 0A 00 C6 20 01 0C 00 C6 20 00 0E 00 C6 20 01 10 00 C6 20 00 12 00 C6 20 01 14 00 C6 20 00 16 00 C6 20 01 18 00 C6 20 00 1A 00 C6 20 01 1C 00 C6 20 00 1E 00 C6 20 01 20 00 C6 20 00 22 00 C6 20 01 24 00 C6 20 00 26 00 C6 20 01 28 00 C6 20 00 2A 00 C6 20 01 2C 00 C6 20 00 2E 00 C6 20 01 30 00 C6 20 00 32 00 C6 20 01 03 00 C7 20 16 01 00 F6 20 00 10 00 01 30 00 00 20 00 01 30 00 00 30 00 01 30 00 00 40 00 01 30 00 00 50 00 01 30 00 00 60 00 01 30 00 00
CFG-VALGET - 06 8B 84 01 01 00 00 04 70 00 01 30 00 00 80 00 01 30 00 00 90 00 01 30 00 00 A0 00 01 30 00 00 B0 00 01 30 00 00 C0 00 01 30 00 00 D0 00 01 30 00 00 E0 00 01 30 00 00 10 01 01 30 00 00 20 01 01 30 00 00 30 01 01 30 00 00 40 01 01 30 00 00 50 01 01 30 00 00 60 01 01 30 00 00 70 01 01 30 00 00 80 01 01 30 00 00 90 01 01 30 00 00 A0 01 01 30 00 00 B0 01 01 30 00 00 C0 01 01 30 00 00 D0 01 01 30 00 00 E0 01 01 30 00 00 01 00 02 30 64 00 01 00 05 30 32 00 01 00 09 30 00 00 08 00 09 30 00 00 17 00 11 30 32 08 B1 00 11 30 FA 00 B2 00 11 30 FA 00 B3 00 11 30 64 00 B4 00 11 30 5E 01 B5 00 11 30 96 00 01 00 21 30 64 00 02 00 21 30 01 00 0B 00 25 30 00 00 0C 00 25 30 00 00 3B 00 25 30 00 00 06 00 34 30 46 00 08 00 34 30 91 00 0A 00 65 30 46 15 0B 00 65 30 A9 01 0C 00 65 30 00 00 33 00 93 30 00 00 04 00 A2 30 00 00 3C 00 A3 30 F4 01 45 00 A3 30 B0 04 46 00 A3 30 E8 03 48 00 A3 30 00 00 02 00 A5 30 78 05 0A 00 A5 30 FF 1F 05 00 C6 30 00 00 09 00 C6 30 00 00 0D 00 C6 30 00 00 11 00 C6 30 00 00 15 00 C6 30 00 00 19 00 C6 30 00 00 1D 00 C6 30 00 00 21 00 C6 30 00 00 25 00 C6 30 00 00 29 00 C6 30 00 00 2D 00 C6 30 00 00 31 00 C6 30 00 00 05 00 DE 30 00 00 06 00 DE 30 00 00
CFG-VALGET - 06 8B FE 01 01 00 40 04 07 00 DE 30 00 00 0A 00 F6 30 00 00 0B 00 F6 30 00 00 03 00 03 40 00 00 00 00 04 00 03 40 00 00 00 00 05 00 03 40 00 00 00 00 09 00 03 40 00 00 00 00 0A 00 03 40 00 00 00 00 0B 00 03 40 00 00 00 00 0F 00 03 40 00 00 00 00 10 00 03 40 00 00 00 00 11 00 03 40 00 00 00 00 02 00 05 40 40 42 0F 00 03 00 05 40 40 42 0F 00 04 00 05 40 00 00 00 00 05 00 05 40 A0 86 01 00 06 00 05 40 00 00 00 00 24 00 05 40 01 00 00 00 25 00 05 40 01 00 00 00 64 00 11 40 00 00 00 00 65 00 11 40 00 00 00 00 66 00 11 40 00 00 00 00 67 00 11 40 00 00 00 00 68 00 11 40 00 00 00 00 69 00 11 40 00 00 00 00 6A 00 11 40 00 00 00 00 C1 00 11 40 00 00 00 00 C2 00 11 40 10 27 00 00 D1 00 11 40 00 00 00 00 D2 00 11 40 00 00 00 00 D3 00 11 40 00 00 00 00 21 00 24 40 00 00 00 00 22 00 24 40 00 00 00 00 23 00 24 40 00 00 00 00 31 00 24 40 00 00 00 00 32 00 24 40 00 00 00 00 33 00 24 40 00 00 00 00 41 00 24 40 00 00 00 00 42 00 24 40 00 00 00 00 43 00 24 40 00 00 00 00 51 00 24 40 00 00 00 00 52 00 24 40 00 00 00 00 53 00 24 40 00 00 00 00 12 00 34 40 F0 F1 FF FF 13 00 34 40 30 2A 00 00 01 00 52 40 00 08 07 00 01 00 53 40 00 96 00 00 28 00 A3 40 00 00 00 00 2A 00 A3 40 00 00 00 00 2B 00 A3 40 00 00 00 00 41 00 A3 40 00 00 00 00 42 00 A3 40 D0 07 00 00 43 00 A3 40 E8 03 00 00 44 00 A3 40 F4 01 00 00 4C 00 A3 40 00 04 04 00 4D 00 A3 40 B0 00 00 00 01 00 A4 40 00 60 E3 16 02 00 A4 40 00 60 E3 16 03 00 A4 40 00 B0 71 0B 04 00 A4 40 00 60 E3 16 05 00 A4 40 00 20 A1 07 06 00 A4 40 80 1A 06 00 07 00 A4 40 00 20 A1 07 08 00 A4 40 00 90 D0 03
CFG-VALGET - 06 8B 90 02 01 00 80 04 09 00 A4 40 00 90 D0 03 0A 00 A4 40 00 20 A1 07 0B 00 A4 40 00 90 D0 03 0C 00 A4 40 00 24 F4 00 0D 00 A4 40 E0 87 F4 02 10 00 A4 40 00 B0 71 0B 01 00 A5 40 01 00 00 00 05 00 A5 40 FF FF FF 1F 06 00 A5 40 FF FF FF FF 07 00 A5 40 FF FF FF FF 08 00 A5 40 FF FF FF FF 09 00 A5 40 FF FF FF FF 01 00 A6 40 00 00 00 00 34 00 C6 40 0F 00 00 00 14 00 D0 40 3C 00 00 00 15 00 D0 40 30 00 00 00 08 00 DE 40 00 00 00 00 2A 00 05 50 00 00 00 00 00 00 00 00 2B 00 05 50 00 00 00 00 00 00 24 40 62 00 11 50 00 00 00 40 A6 54 58 41 63 00 11 50 88 6D 74 96 1D A4 72 40 06 00 36 50 C8 2B 07 00 00 00 00 00 0D 00 65 50 75 2D 62 6C 6F 78 20 41 0E 00 65 50 47 20 2D 20 77 77 77 2E 0F 00 65 50 75 2D 62 6C 6F 78 2E 63 10 00 65 50 6F 6D 00 00 00 00 00 00 11 00 65 50 75 2D 62 6C 6F 78 20 47 12 00 65 50 4E 53 53 20 72 65 63 65 13 00 65 50 69 76 65 72 00 00 00 00 14 00 65 50 00 00 00 00 00 00 00 00 15 00 65 50 00 00 00 00 00 00 00 00 16 00 65 50 00 00 00 00 00 00 00 00 17 00 65 50 00 00 00 00 00 00 00 00 18 00 65 50 00 00 00 00 00 00 00 00 26 00 A3 50 20 40 00 00 54 00 00 00 49 00 A3 50 5A 45 44 2D 46 39 50 00 03 00 A5 50 4D 77 35 A3 ED 01 00 00 07 00 C6 50 00 00 00 00 00 00 00 00 0B 00 C6 50 00 00 00 00 00 00 00 00 0F 00 C6 50 00 00 00 00 00 00 00 00 13 00 C6 50 00 00 00 00 00 00 00 00 17 00 C6 50 00 00 00 00 00 00 00 00 1B 00 C6 50 00 00 00 00 00 00 00 00 1F 00 C6 50 00 00 00 00 00 00 00 00 23 00 C6 50 00 00 00 00 00 00 00 00 27 00 C6 50 00 00 00 00 00 00 00 00 2B 00 C6 50 00 00 00 00 00 00 00 00 2F 00 C6 50 00 00 00 00 00 00 00 00 33 00 C6 50 00 00 00 00 00 00 00 00 04 00 C7 50 43 30 39 39 00 00 00 00 05 00 C7 50 6D 62 65 64 00 00 00 00 06 00 C7 50 73 61 76 65 64 21 00 00 07 00 C7 50 00 00 00 00 00 00 00 00 02 00 F6 50 00 00 00 00 00 00 00 00 03 00 F6 50 00 00 00 00 00 00 00 00 04 00 F6 50 00 00 00 00 00 00 00 00 05 00 F6 50 00 00 00 00 00 00 00 00 06 00 F6 50 00 00 00 00 00 00 00 00 07 00 F6 50 00 00 00 00 00 00 00 00 08 00 F6 50 00 00 00 00 00 00 00 00

ZED-F9P HPG 1.30 firmware 23-Dec-2021

本体のRTKエンジンを使用 1

  • STRSR  (例 RTK2GO又は善意の基準局掲示板 より近くの基準局を設定
  • Input NTRIP clientを設定 NTRIP Caster host:アドレス Port:ポート Mountpoint:XXXXXX User-ID:XXXX Password:XXXXX
  • Output GR-901が接続されたUSB COMポート Port: Bitrate:460800 8:n:1:n output received stream to tcp port : 52101
  • SerialをTCPポートへ転送します。

本体のRTKエンジンを使用 2

  • u-center NTRIP client settings
  • RTK2GO サーバー
  • 基準局の位置情報 Long・Lat・Height

本体のシリアルポートへRTCMデータが入力されるとオレンジLEDが点滅はじめ、FIXにて点灯状態になります。

RTCM3.3出力メッセージサンプル
      		  
D3,00,41,46,70,00,2A,5E,EA,EC,00,00,00,84,08,00,00,00,00,00,20,00,00,00,77,C7,E4,90,00,BD,14,53,C8,06,F0,1E,7F,DB,0C,A5,C1,1C,F7,E2,EC,B0,2F,1B,E0,53,B0,2F,8A,7F,F8,75,C8,82,44,40,F0,62,08,F9,4A,2C,E6,70,1A,74,C9,
D3,00,04,4C,E0,00,80,ED,ED,D6,
D3,00,7E,FE,80,00,01,00,00,22,A5,FC,5A,C0,06,D9,58,3D,1E,03,E6,AD,9D,A5,91,3F,76,F5,3E,00,01,8F,FF,FF,53,FF,FF,52,00,00,00,00,00,00,00,00,00,00,00,02,D0,2A,7F,FF,FF,FF,CD,DF,FF,FF,FF,FF,DA,4A,D0,00,00,00,05,3C,50,00,00,00,00,BC,EA,00,00,00,01,53,AE,C0,00,00,07,CB,28,C0,00,00,04,03,3E,80,00,00,04,53,4F,00,00,00,58,81,D5,FF,FF,FF,A7,32,50,00,00,01,65,D4,20,00,00,00,00,00,00,00,00,00,00,B9,46,9A,
D3,00,26,FE,80,01,00,00,00,22,A5,FC,73,C0,00,00,04,00,00,01,C2,00,02,02,00,00,00,00,00,03,00,06,14,00,03,06,00,09,88,00,03,EC,43,1A,
D3,00,5F,43,50,00,2A,5F,C7,3E,00,00,22,50,08,00,00,00,00,00,20,00,00,00,7D,19,15,29,0D,18,00,00,35,A7,93,C4,F9,8D,40,41,BF,1A,F7,D8,0A,80,3D,41,C8,28,65,48,47,CE,BC,A2,CA,49,E2,48,06,98,EC,19,3D,38,19,6D,28,28,4F,30,20,C0,BE,1E,7E,17,76,DD,E0,05,A1,50,3C,15,04,40,12,FF,8D,36,5D,F3,0D,25,8A,80,77,A4,7A,
D3,00,41,43,F0,00,43,BE,FB,FE,00,00,0C,00,08,00,00,00,00,00,20,00,00,00,74,54,14,2D,89,3A,C4,C0,5B,DE,A0,0F,01,87,27,08,E0,A2,54,CD,12,30,94,AD,E0,13,EE,0F,33,1D,29,1D,37,69,C5,40,F0,3C,17,E7,0C,8E,02,1B,6C,BD,54,
D3,00,33,44,90,00,2A,5F,C7,3E,00,00,00,04,00,20,00,00,00,00,20,00,00,00,6A,09,A0,18,FB,0F,F6,98,19,A2,3B,72,18,E3,80,90,B8,00,6B,FC,51,0C,4C,50,18,06,30,03,80,
A0,24,EB,00,
D3,00,41,46,70,00,2A,5E,EC,7C,00,00,00,84,08,00,00,00,00,00,20,00,00,00,77,C7,E4,90,00,BD,14,53,C8,06,F0,1E,7F,DB,07,BB,A0,C8,13,E4,93,A0,1B,81,00,3E,6F,DF,91,12,28,75,C8,82,44,40,F0,62,09,C3,C8,D3,65,35,65,B6,5E,
D3,00,04,4C,E0,00,80,ED,ED,D6,
D3,00,7E,FE,80,00,01,00,00,22,A5,FC,73,C0,06,D9,58,3D,1C,C3,E6,AD,9D,AC,11,3F,76,F5,14,00,00,7E,00,00,0F,FF,FD,42,00,00,00,00,00,00,00,00,00,00,00,02,CF,E9,7F,FF,FF,FF,CD,E3,BF,FF,FF,FF,DA,4E,E8,00,00,00,05,3B,F2,00,00,00,00,BC,BA,80,00,00,01,53,C1,A0,00,00,07,CA,B0,40,00,00,04,03,39,00,00,00,04,52,F6,00,00,00,58,83,75,FF,FF,FF,A7,24,34,00,00,01,65,FB,70,00,00,00,00,00,00,00,00,00,00,47,46,2F,

TouchRTKstation Raspberry Pi

TouchRTKstationログubxをuc2に変換してu-center2で再生

    Raspberry Pi3+GR-901V+Ntrip RTCM3+str2str+TouchRTKstation+WindowsPC NMEAモニタ

  • Raspi USB /ttyAM0 460800
  • RTKLIB/app/str2str/gcc/ ./str2str -in ntrip://guest:guest@add:port/mount-point -out serial://ACM0:460800  ターミナルより実行
  • Touch RTK station Base config input Port ttyACM0 460800 Output1 TCP server UBX Port 52001
  • PC から NMEA monitorを起動 入力ポート TCP TCPhost アドレス TCPポート52001 で接続

Raspberry Pi3+タッチスクリーン+GR-901V

  • Raspberry Pi ImagerでOSをマイクロSDカードに書き込みます。
  • タッチスクリーンも接続します。LCDドライバー設定は全てインストールしてから行った方が楽です。
  • 書き込み終了後SSH接続できるようsshファイル(空)を作成しSSHターミナルで接続
  • IPアドレスが不明の場合はAdvanced IP Scannerでローカル内を検索します。
  • 細かな設定は省略しますが、raspi-configでVNCの接続設定
  • Display Optionsで好みの解像度に設定
  • VNC ViewerをPCにインストール
  • Vsftpdインストール rootでログインできるようにしておくと便利です。

TouchRTKstationインストール

  • cd /home/pi/
  • git clone https://github.com/taroz/TouchRTKStation.git
  • cd /home/pi/TouchRTKStation/install
  • sudo sh Install.sh 自動的に再起動
  • sudo python3 /home/pi/TouchRTKStation/TouchRTKStation.py
  • cd /home/pi/TouchRTKStation/install
  • sudo sh Autostart.sh

TouchRTKStationを起動すると libEGLエラーが表示されることがあります。

>> libEGL warning: DRI2: failed to authenticate, Raspbian Stretch
su -
libEGL.soとlibGLESv2.soをfindして 以下の4つのlnを作成します。(強制的にシンボリック)
ln -fs /usr/lib/chromium-browser/swifthader/libEGL.so /usr/lib/arm-linux-gnueabihf/libEGL.so
ln -fs /usr/lib/chromium-browser/swifthader/libEGL.so /usr/lib/arm-linux-gnueabihf/libEGL.so.1

ln -fs /usr/lib/chromium-browser/swifthader/libGLESv2.so /usr/lib/arm-linux-gnueabihf/libGLESv2.so
ln -fs /usr/lib/chromium-browser/swifthader/libGLESv2.so /usr/lib/arm-linux-gnueabihf/libGLESv2.so.2

インストール&起動を確認したら TouchRTKStation.pyを設定します。GR-901は460800bpsの為serialポートの設定を追加します。

# ublox command file for Base/Rover mode
ubxcmd = dirtrs+'/conf/ubx_gr901_10.cmd'#

# serial port settings
    serial_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
    serial_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400','460800'])
    ____________________________________________________________________________
    # 460800を追加した場合は
    #RTKLIB/src/stream.c 
    #const int br[]={
        #300,600,1200,2400,4800,9600,19200,38400,57600,115200,230400,460800
    #};
    #const speed_t bs[]={
       # B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600,B115200,B230400,B460800
    #};
    
    #serial bpsを追加
    ____________________________________________________________________________
    
    
    serial_bytesize = (['7 bits','8 bits'])   #[7 8]
    serial_parity = (['None','Even','Odd'])   #[n e o]
    serial_stopbits = (['1 bit','2 bits'])    #[1 2]
    serial_flowcontrol = (['None','RTS/CTS']) #[off rtscts]     		   
      		   
# Default Input stream configration
input_iport= 2         # ttyACM0
input_ibitrate = 11     # 
input_ibytesize = 1    # 8 bit
input_iparity = 0      # None
input_istopbits = 0    # 1 bit
input_iflowcontrol = 0 # None

# Default Correction stream configration
corr_flag = True
corr_type = (['NTRIP Client','TCP Client'])
corr_itype = 0#NTRIP
corr_format = (['RTCM2','RTCM3','BINEX','UBX'])
corr_iformat = 1#RTCM3
corr_user = 'user'
corr_addr = 'NTRIPサーバーアドレス'
corr_port = ポート'
corr_pw = 'password'
corr_mp = 'マウントポイント'

# Default Output stream configration
output_flag = True
output_type=(['TCP Server','NTRIP Server','NTRIP Caster'])
output_itype = 0    # TCP Server
output_format = (['UBX','RTCM3'])
output_iformat = 0  # UBX
output_user = ''
output_addr = 'localhost'
output_port = '2101'
output_pw = ''
output_mp = ''

※タッチ画面の回転も可能です。(270度の場合)
HDMI_mode=の下に
display_rotate=3#90は1

cd /usr/share/X11/xorg.conf.d

40-libinput.conf
Section InputClass
Identifier.... touchscreen# <<
MatchIsTouchscreen="on"#の下に
Option "TransformationMatrix" "0 -1 1 1 0 0 0 0 1"
#90度は 0 1 0 -1 0 1 0 0 1
#180度は -1 0 1 0 -1 1 0 0 1

TouchRTKStationがフルスクリーンなので画面サイズを変更。ターミナル等使用できるようになります。

また デスクトップに起動用のコマンドファイルを作成しておくと画面タッチだけですべて操作でき便利です。

 
 
 self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
 self.setGeometry(100, 100, 480, 320) # For debug ←この行のコメントを外す
 #self.showFullScreen() # この行をコメント
TouchRTKstart.sh
#!/bin/bash
python3 /home/pi/TouchRTKStation/TouchRTKStation.py

srv2srvstart.sh
#!/bin/bash
/home/pi/RTKLIB/app/str2str/gcc/str2str -in ntrip://[guest:guest ※1]@[ntripサーバーアドレス※2]:[ポート番号※]/[マウントポイント※] -out serial://ttyACM0:460800
※1 ユーザーID:パスワード
※2 ntripサーバーアドレス rtk2go.comなど
※ポート番号2101など
※マウントポイント

※u-center ver21.05 

詳細はドキュメントdatasheet F/W 1.00 HPG 1.13  (ZED-F9P-02B_DataSheet_UBX-21023276)などをご参照下さい。