RTK Correction

Hardware

The default correction data is received over a cellular or Wi-Fi connection.

Info

The AutomatePro offers an optional L-band RTK correction data receiver, which receives correction data from L-Band satellites. This allows the RTK GNSS to function without a cellular connection and provides correction redundancy. For more information, contact Lemvos.

ROS API

Node: automatepro_ntrip_client/automatepro_spartn_client

Publishers

Topic	Type	Description
/sensor/gnss/correction	rtcm_msgs/msg/Message	RTCM or SPARTN correction data.

Parameters

Parameter	Type	Values	Runtime R/W	Description
use_https	bool	true/false	read-only	Uses HTTPS when set to true.
host	string		read-only	NTRIP server hostname.
port	string	2101/2102	read-only	NTRIP server port.
mountpoint	string		read-only	Mountpoint to connect to.
username	string		read-only	Login credentials for the NTRIP subscription.
password	string		read-only	Login credentials for the NTRIP subscription.

RTK Correction Services

RTK (Real-Time Kinematic) correction service is a technique used to enhance the precision of position data derived from satellite-based positioning systems such as GPS, GLONASS, Galileo, and BeiDou. RTK achieves centimeter-level accuracy by using corrections transmitted from a network of ground-based reference stations to a receiver in real time. AutomatePro supports RTCM and SPARTN correction data over the NTRIP protocol.

If you already have login credentials for the NTRIP caster you want to use, proceed with configuring parameters as shown below. If you would like to set up a new one, follow the instructions below.

info

The following services have been tested with AutomatePro. If you use a different service provider, you may need to configure it according to that provider's instructions.

Here are the suggested free and paid correction services:

u-blox PointPerfect (Paid)

u-blox correction data uses SPARTN format, which is more efficient than RTCM. More details can be found here. Before proceeding to the next step, you should have a hostname, mountpoint, username, and password.

The configuration file is:

/opt/automatepro/config/ros/spartn_client.yaml

automatepro_spartn_client:
  ros__parameters:
    tls: false
    host: "ppntrip.services.u-blox.com"
    port: "2101"  # [http: 2101, https: 2102]
    mountpoint: "EU" # [Europe: EU, United States: US, Australia: AU, Korea: KR]
    username: "username" # Your USERNAME
    password: "password" # Your PASSWORD

RTK2go (Free)

RTK2go is a community NTRIP caster that provides free RTK correction service. To use it, select a mountpoint near your location. You can find the list of available mountpoints here. Click on view-all to view mountpoints on the map.

Once you have the mountpoint you would like to connect to, add that to the config file as shown below.

The configuration file is:

/opt/automatepro/config/ros/ntrip_client.yaml

ntrip_client:
  ros__parameters:
    use_https: false
    host: rtk2go.com
    port: 2101
    mountpoint: Prittlbach  # Add your mountpoint here
    username: "noname"
    password: "password"

Important

Restart the automatepro-core-driver Docker container after changing the configuration. Configuration changes are applied only after the container restarts.

docker restart automatepro-core-driver