https://github.com/rtk-rs/rt-navi
High Precision Navigation in Real Time
https://github.com/rtk-rs/rt-navi
gnss gps ublox
Last synced: 4 months ago
JSON representation
High Precision Navigation in Real Time
- Host: GitHub
- URL: https://github.com/rtk-rs/rt-navi
- Owner: rtk-rs
- License: mpl-2.0
- Created: 2024-06-20T06:49:53.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-05-29T10:01:35.000Z (5 months ago)
- Last Synced: 2025-05-30T23:16:35.491Z (5 months ago)
- Topics: gnss, gps, ublox
- Language: Rust
- Homepage:
- Size: 107 KB
- Stars: 9
- Watchers: 2
- Forks: 2
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
RT-NAVI
=======
[](https://github.com/rtk-rs/rt-navi/actions/workflows/rust.yml)
[](https://crates.io/crates/rt-navi)
[](https://crates.io/crates/rt-navi)
[](https://github.com/rtk-rs/binex/blob/main/LICENSE)
`rt-navi` is our real-time navigation application. It proposes interfaces to our
[GNSS-RTK solver](https://github.com/rtk-rs/gnss-rtk) and supports one U-Blox receiver,
since Rust language offers great support for these devices.
If support for other devices appear, it should be easy to propose other interfaces.
`rt-navi` expects a single serial interface and currently does not manage several receivers.
Licensing
=========
This application is part of the [RTK-rs framework](https://github.com/rtk-rs) which
is delivered under the [Mozilla V2 Public](https://www.mozilla.org/en-US/MPL/2.0) license.
PPP / RTK
=========
`rt-navi` offers direct/absolute navigation by default (also referred to as `PPP`).
An `RTK` option will be developped in near future.
Compilation
===========
The U-Blox library (one of our dependency) is not compatible with `--all-features`, as we use
compilation features to select the U-Blox protocol (read down below). So `rt-navi` is not compatible
with this compilation mode, you have to select the features you are interested one by one.
Cross-compilation
=================
`rt-navi` is compatible with cross-compilation, but it currently requires support of the `std` library.
Deployment
==========
Activate `$RUST_LOG` to have more information. Use `trace` to unlock all traces.
Use `-p` to specify the serial interface to the U-Blox.
```bash
RUST_LOG=debug rt-navi -p /dev/ttyACM0
[2025-05-11T09:31:21Z INFO anise::almanac] Loading bytes as DAF/SPK
[2025-05-11T09:31:21Z DEBUG rt_navi] deployed with User {
profile: Some(
Pedestrian,
),
clock_sigma_s: 0.001,
}
[...]
[2025-05-11T09:31:21Z DEBUG rt_navi] deployed with Config {
timescale: GPST,
method: SPP,
user: User {
profile: None,
clock_sigma_s: 0.001,
},
[...]
[2025-05-11T09:31:21Z INFO rt_navi] solver deployed
[2025-05-11T09:31:21Z DEBUG rt_navi] deploying ublox..
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-RAWX
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-NAV-PVT
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-SFRBX
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-RATE
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-MON-VER
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] ublox: hw-version: 00080000, sw-version: EXT CORE 3.01 (111141) , extensions: ["ROM BASE 2.01 (75331)", "FWVER=TIM 1.10", "PROTVER=22.00", "MOD=NEO-M8T-0", "FIS=0xEF4015 (100111)", "GPS;GLO;GAL;BDS", "SBAS;IMES;QZSS"]
```
Soon the navigation messages gathering starts, and so does the measurement collection.
When both align and everything becomes feasible, the solver naturally consumes all of this data and we obtain a P.V.T:
U-Blox specificity
==================
`rt-navi` currently requires a U-Blox receiver to operate. We offer several compilation options
to select the U-Blox protocol (`"protocol"` version being very important, because it actually
defines which receiver you can operate!):
- `ubx_proto23` v23 (Default, for M8 series)
- `ubx_proto14` v14
- `ubx_proto27` v27 (for F9 series)
- `ubx_proto31` v31 (for newer series)
P.V.T solutions
===============
TODO
Initial fix
===========
We offer a few options to specify initial `x`, `y` and `z` coordiates. This reduces the constraint
to initial fix and make it easier to obtain. We recommend using this only if you have a rather good idea.
```bash
rt-navi -p /dev/ttyACM0 --coords-ecef-km=1000.0,2000.0,3000.0
```
Ecosystem
=========
`rt-navi` uses the combination of several major crates to achieve its objectives
- [ANISE](https://github.com/nyx-space/anise)
- [Hifitime](https://github.com/nyx-space/hifitime)
- [Nyx-Space](https://github.com/nyx-space/nyx)
- [SP3](https://github.com/rtk-rs/sp3)
- [GNSS-RTK](https://github.com/rtk-rs/gnss-rtk)
- [UBlox](https://github.com/ublox-rs/ublox)