This comprehensive guide from ArduSimple details the integration of GNSS/RTK receivers with ArduPilot, facilitating accurate autonomous navigation in unmanned vehicles. It encompasses hardware selection, setup instructions, and techniques to achieve centimeter-level positioning accuracy in drones, rovers, and various other vehicles.
For those embarking on projects involving unmanned vehicles such as drones (UAVs), rovers, boats, or submarines, achieving autonomous navigation necessitates the integration of an autopilot system with a precise GNSS/RTK positioning solution.although the integration process can be complex, ArduSimple has crafted this article to assist you in getting started.
Understanding ArduPilot, Flight Controllers, and Ground Control Stations
ArduPilot is a versatile open-source autopilot platform that supports a wide array of vehicle types, including multi-rotors, traditional helicopters, fixed-wing aircraft, boats, submarines, and rovers.
The flight controller serves as the hardware component that executes the ArduPilot firmware, functioning as the central processing unit. It interprets data from various sensors (such as GPS, accelerometers, and gyroscopes) to stabilize and manage the vehicle’s movements. Notable flight controllers compatible with ArduPilot include Pixhawk, Cube, and Navio2.
In most of our tutorials, we utilize the Pixhawk 4; however, adjustments may be necessary for other flight controllers.
A Ground Control Station (GCS) is a software request that operates on a computer, smartphone, or transmitter, enabling communication with your UAV through wireless telemetry or USB connection. Mission Planner and QGroundControl are two popular GCS options that work seamlessly with ArduPilot, allowing you to configure, control, and monitor your unmanned vehicles.
Selecting the Right GNSS/RTK Receiver for Your ArduPilot Project
Incorporating a GNSS/RTK receiver into your ArduPilot project enhances GNSS positioning and navigation, leading to more accurate and dependable autonomous operations.
The Need for Centimeter-Level GPS Accuracy
If your ArduPilot project requires the drone to consistently follow the same flight path, hover, navigate, and land within a few centimeters of a designated waypoint, a single-antenna GPS/RTK receiver will suffice, as it delivers precise GNSS positioning. In this context, ardusimple recommends the following GNSS/RTK boards:
- simpleRTK2B Budget (powered by u-blox ZED-F9P) as the most economical choice.
Key features:
– Achieves centimeter-level GPS accuracy
– provides up to 10 RTK position updates per second
- simpleRTK3B Pro (powered by Septentrio Mosaic-X5) for enhanced anti-jamming and anti-spoofing features.
Key features:
– Achieves up to 10 millimeters GPS accuracy
– Offers up to 50 RTK position updates per second
– Equipped with anti-jamming and anti-spoofing capabilities
these boards are ideal for applications requiring precise positioning without the need for high heading accuracy, such as waypoint missions or terrain mapping.
GPS Location with Dual Antenna Heading Control
For accurate heading control in conjunction with precise GNSS positioning, ArduPilot necessitates GPS receivers equipped with dual antennas. This configuration is crucial for determining orientation (heading) and ensuring accurate navigation in three-dimensional environments.
In this scenario,the recommended option is the simpleRTK3B Compass,powered by the unicore UM982 receiver.
Key features:
- Achieves up to 10 millimeters GPS accuracy
- Provides heading accuracy of 0.1° per meter of baseline distance
- Delivers up to 50 RTK position updates per second
- Basic jamming resistance
For the complete article, including setup instructions for a GNSS/RTK receiver with ardupilot, tutorials, and methods to enable centimeter-level accuracy with RTK corrections, click here.
