pyrtkgps is a library for managing and configuring GPS and GNSS chips. Currently, the main focus of this library is to work
with GPS modules manufactured by u-blox.
Credit: The base code for pyrtkgps was initially written for a Real-Time Kinematic GPS experiment at Columbia University.
pip install pyrtkgpsThe following is an example for configuring the ZED-F9P chip (from u-blox) as a base station.
The YAML file can be replaced with a YAML string if needed.
RAM:
UBX-CFG-VALSET:
# enable survey-in mode
- CFG-TMODE-MODE: 1
- CFG-TMODE-SVIN_MIN_DUR: 60
- CFG-TMODE-SVIN_ACC_LIMIT: 50000
# disable NMEA on uart1
- CFG-UART1OUTPROT-NMEA: 0
# enable survey-in status output
- CFG-MSGOUT-UBX_NAV_SVIN_UART1: 1
# enable rtcm messages
- CFG-MSGOUT-RTCM_3X_TYPE1005_UART1: 1
- CFG-MSGOUT-RTCM_3X_TYPE1074_UART1: 1
- CFG-MSGOUT-RTCM_3X_TYPE1084_UART1: 1
- CFG-MSGOUT-RTCM_3X_TYPE1124_UART1: 1
- CFG-MSGOUT-RTCM_3X_TYPE1230_UART1: 5from serial import Serial
import pyrtkgps.ublox as ublox
from pyubx2.ubxreader import UBXReader
# connect to the uart1 port with baudrate 38400
uart1 = Serial("/dev/uart1", 38400)
# split the uart1 stream into a stream for each protocol (UBX, RTCM, NMEA)
virtual_streams = ublox.StreamMuxDemux(uart1)
# load the chip configuration from a YAML file (or use a YAML string)
config_file = open("./base_station.yml", "r")
# serialize the configuration file
sr = ublox.UBXSerializer
serialized_config = sr.serialize(config_file)
# close the configuration file
config_file.close()
# write serialized config to the ublox chip
virtual_streams.UBX.write(serialized_config)
# print UBX output
ubr = UBXReader(virtual_streams.UBX)
while True:
raw, msg = ubr.read()
print(msg)