RTKlibDroid

A solution to turn your Android smartphone into a GNSS RTK receiver with a Linux distribution and RTKlib

• Trace logs llh
• Centimetric positioning on all your applications with geolocalisation
• All that can do RTKlib...

Attention, it is necessary to have an RTK base close to the acquisition area. https://centipede.fr

Materials

Smartphone

• a 64 bits smartphone / tablette.
• No need to root your device.
• USB OTG

GNSS antenna for dual-frequency reception

Ublox F9P

Android APK

Required Android applications

Userland > UserLAnd is an open-source app which allows you to run several Linux distributions like Ubuntu, Debian, and Kali.

ConnectBot > ConnectBot is a powerful open-source Secure Shell (SSH) client. It allows multiple simultaneous SSH sessions, tunneling, and copy/paste with other applications.

TCPUART > This application allows you to connect an UART (Serial) USB adapter to a TCP socket, to send and receive data. this application is necessary because Userland does not yet have access to the Android usb mount point.

Optional Android applications

droidinfo > check that his smartphone is 64-bits

Lefebure > take NMEA position data from RTKlib display solution and enable android mock location.

Configure antenna

update the firmware

First of all it is necessary to update the firmware of your F9P module.

• Install U-center (Windows or Linux Wine)

• Update F9P firmware

Installation on android smartphone

• install Userland, ConnectBot and TCPUART from PlayStore

Userland

Configure

• download RTKlib-debian-rootfs_X_X.tar.gz on Android internal storage.
• Start Userland
• Go to "files system" & click +
• fill in the gaps:
  • name file system: RTKlib
  • user nme: rover
  • password: 123456
  • password vnc: 123456
  • files system: Debian
• Click on Show advanced options and select the image you downloaded earlier.
• Save (top right)
• Go to "Sessions" & click +
• fill in the gaps:
  • session name: rover
  • files system: RTKlib:Debian
  • service type: ssh
• Save (top right)

Run with antenna connected

• Connect via usb the antenna to the smartphone (OTG adapter)
• Start TCPUART application:
  • click on Connect
  • modify port to 8080
  • click on Start
  • DON'T CLOSE TCPUART, come back on android home with your buton
• Start Userland
  • Go to "Sessions"
  • One click on rover --> RTKlib:Debian
  • authorize ConnectBot to connect
  • enter password 123456
• RTKlibDroid display

Paramétres actuels
------------------
Positionnement: kinematic
Mount Point: LIENSS
Rate: 1000 ms
Model: Pedestrian
Elevation: 10°
Input: tcpcli :@localhost:8080:
caster: caster.centipede.fr:2101 rtcm3
GPS : Oui
GAL : Oui
BDS : Oui
QZSS: Oui
GLO : Oui
------------------
1) Start Rover
2) Display Param
3) Modification
4) Quit
Choisir une action:

• if parameters are OK then start Rover RTKLIB: write 1 + enter

Choisir une action: 1

** rtkrcv ver.demo5 b33b2 console (h:help) **
rtk server start
rtkrcv> 

• You can write status 1 + enter for display status

rtkrcv> status 1

ex:

Parameter                   : Value
rtklib version              : demo5 b33b2
rtk server thread           : 335542016
rtk server state            : run
processing cycle (ms)       : 10
positioning mode            : kinematic
frequencies                 : L1+L2
accumulated time to run     : 00:06:25.7
cpu time for a cycle (ms)   : 25
missing obs data count      : 0
bytes in input buffer       : 0,0
# of input data rover       : obs(1929),nav(30),gnav(7),ion(174),sbs(0),pos(0),dgps(0),ssr(0),err(0)
# of input data base        : obs(384),nav(34),gnav(9),ion(0),sbs(0),pos(26),dgps(0),ssr(0),err(0)
# of input data corr        : obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)
# of rtcm messages rover    : 
# of rtcm messages base     : 1004(385),1005(13),1006(13),1012(385),1019(156),1020(221),1042(130),1045(646),1046(646),1077(385),1087(385),1097(385),1127(384)
# of rtcm messages corr     : 
solution status             : fix
time of receiver clock rover: 2020/02/03 14:56:19.199867116
time sys offset (ns)        : 49.277,-4.175,41.798,0.000
solution interval (s)       : 0.200
age of differential (s)     : 2.200
ratio for ar validation     : 3.113
# of satellites rover       : 36
# of satellites base        : 41
# of valid satellites       : 20
GDOP/PDOP/HDOP/VDOP         : 1.4,1.3,0.7,1.0
# of real estimated states  : 9
# of all estimated states   : 353
pos xyz single (m) rover    : 4438272.095,-79653.936,4564680.439
pos llh single (deg,m) rover: 45.99214112,-1.02818042,55.256
vel enu (m/s) rover         : -0.003,-0.005,0.003
pos xyz float (m) rover     : 4438271.878,-79653.347,4564680.174
pos xyz float std (m) rover : 0.014,0.018,0.009
pos xyz fixed (m) rover     : 4438272.095,-79653.936,4564680.439
pos xyz fixed std (m) rover : 0.007,0.004,0.005
pos xyz (m) base            : 4426044.934,-89425.964,4576296.255
pos llh (deg,m) base        : 46.14264305,-1.15747430,67.958
# of average single pos base: 0
ant type rover              : 
ant delta rover             : 0.000 0.000 0.000
ant type base               : 
ant delta base              : 0.000 0.000 0.000
vel enu (m/s) base          : 0.000,0.000,0.000
baseline length float (m)   : 19491.935
baseline length fixed (m)   : 19491.618
last time mark              : -
receiver time mark count    : 0
rtklib time mark count      : 0

NMEA

NMEA is enable at http://localhost:9000

Logs LLH

When a session start logs are writings on a share directory available on android : Storage/Android/data/tech.ula/files/storage/gnss/solution

Modify parameters

Choisir une action: 3
1) RTK setting	      3) Caster Connexion   5) Return
2) Antenna Connexion  4) Satellites

1) RTK setting

Modifier:1
1) Positionning Mode  3) Elevation	    5) Return
2) Model	      4) Rate
Modifier:1

Change 1: kinematic to:

3 : static
2 : single
1 : kinematic

Modifier:2

Change Model: 3 : Pedestrian to:

0 : Portable
2 : Stationary
3 : Pedestrian
4 : Automotive
5 : Sea
6 : Airborne <1g
7 : Airborne <2g
8 : Airborne <3g

Modifier:3

Change elevation mask: 10° to:

Modifier:4

change Rate: 200 ms to:

2) Antenna Connexion

Modifier:2
1) RCV connection
2) Return
Modifier:1

Change receiver connection: tcpcli to:
2 : serial
1 : tcpcli

• default parameters tcp: :@localhost:8080: + llh logs outpath /storage/internal/gnss/solutions/
• Use serial if you want to run RTKlibDroid on a PC, default parameters serial: ttyACM0:115200:8:n:1:off + llh logs outpath ./solution/

3) Caster Connexion

Modifier:3
1) Caster Mount Point  3) Caster Port	      5) Caster Password
2) Caster Adresse      4) Caster Username     6) Return
Modifier:1

change Mount Point: LIENSS to:

Modifier:2

change caster adrss: caster.centipede.fr to:

Modifier:3

change caster port: 2101 to:

Modifier:4
!!!Paramètre non intégré!!!
change caster username: to:

Modifier:5
!!!Paramètre non intégré!!!
change caster password: to:

4) Satellites

Modifier:4
1) GPS
2) GAL
3) GLO
4) BDS
5) QZSS
6) Return
Modifier:1

GPS activ: Oui to:
Non : 0
Oui : 1

Modifier:2

GALILEO activ: Oui to:
Non : 0
Oui : 1

Modifier:3

GLONASS activ: Oui to:
Non : 0
Oui : 1

Modifier:4

BEIDOU activ: Oui to:
Non : 0
Oui : 1

Modifier:5

QZSS activ: Oui to:
Non : 0
Oui : 1

Other parameters

You can edit conf files with nano, they are here:

./var/rtkrcv_var.txt

./var/F9P_var.cmd

Mock location

You can use Lefebure apk to see status and use android mock location. ...