If you haven't already, please read through the Dual-Duro Setup For Precise Position And Heading article for the details of the moving baseline configuration. This article will go over the wiring and settings configuration of two Duro's for moving baseline RTK over the serial and network ports. For more details about heading information, please see Swift Navigation's article on RTK Heading using the Piksi Multi's.
TABLE OF CONTENTS
Moving Baselines Over Serial
Below is the wiring diagram for the primary Duro to communicate navigation data via the serial port to secondary Duro. The Duro RTK Pack comes with two serial cables (M12-A-Code 8-pin male to DB9 female) and a DB9 male-to-male connector for connecting the two serial cables.
Serial Wiring Diagram
Primary Duro Settings
| Name | Value | Units | Description |
| solution | |||
| dgnss_solution_mode | Low Latency | Configures Duro to compute RTK solution if RTK corrections are received from a stationary base station. | |
| soln_freq | 10 | Hz | 10 Hz is the current maximum RTK low latency solution rate on Duro. |
| output_every_n_obs | 2 | n/a | Enables 5 Hz raw observation output to the Attitude receiver. Observation rate must be the same as on the Attitude receiver. |
| uart0 | |||
| baudrate | 115200 | The Baud rate for the UART 0 (Duro serial port). | |
| flow control | None | Enables/Disables hardware flow control (RTS/CTS). | |
| enabled_sbp_messages | 74,117 | n/a | Configures Duro to send its raw observations and GLONASS biases to the Attitude receiver. |
| mode | SBP | Uses SBP protocol for observations output. | |
Secondary Duro Settings
| Name | Value | Units | Description |
| solution | |||
| dgnss_solution_mode | Time Matched | Configures Duro to compute solution on receipt of observations from a reference Duro. | |
| soln_freq | 5 | Hz | 5 Hz is the current maximum time-matched solution rate on Duro. |
| output_every_n_obs | 1 | n/a | Enables 5 Hz raw observation. Observation rate must be the same as on the reference receiver. |
| send_heading | True | bool | Enables SBP/NMEA heading output. Heading is calculated from the reference receiver antenna to the attitude receiver antenna. |
| heading_offset | Depends on installation | degrees | Adds an offset to the heading output to rotate the heading vector to align output with the actual antennas installation. Valid values are -180.0 to 180.0 degrees. |
| dynamic_motion_model | High Dynamics | Sets required dynamic motion model. Use the same setting for all types of applications. | |
| uart0 | |||
| baudrate | 115200 | The Baud rate for the UART 0 (Duro serial port). | |
| flow control | None | Enables/Disables hardware flow control (RTS/CTS). | |
| enabled_sbp_messages | 0 | Configures Duro to not send any data from this port. | |
| mode | SBP | Uses SBP protocol for observations input. | |
Moving Baselines Over UDP
Below is the wiring diagram for the primary Duro to communicate navigation data via the Ethernet port to secondary Duro. The Duro RTK Pack comes with two 2.5m M12 D-Code | 4P Male Ethernet Cable. In this diagram, a network router is required to route network traffic between the two Duro's. This is not provided with the Duro RTK Kit.
Network Wiring Diagram
Primary Duro Settings
| Name | Value | Units | Description |
| ethernet | |||
| ip_address | 192.168.0.121 | Unique address on the network (example). | |
| solution | |||
| dgnss_solution_mode | Low Latency | Configures Duro to compute RTK solution if RTK corrections are received from a stationary base station. | |
| soln_freq | 10 | Hz | 10 Hz is the current maximum RTK low latency solution rate on Duro. |
| output_every_n_obs | 2 | n/a | Enables 5 Hz raw observation output to the Attitude receiver. Observation rate must be the same as on the Attitude receiver. |
| udp_client0 | |||
| address | 192.168.0.122:55557 | Destination IP address and port for GNSS observations. | |
| enabled_sbp_messages | 74,117 | n/a | Configures Duro to send its raw observations and GLONASS biases to the Attitude receiver. |
| mode | SBP | Uses SBP protocol for observations output. | |
Secondary Duro Settings
| Name | Value | Units | Description |
| ethernet | |||
| ip_address | 192.168.0.122 | Unique address on the network (example). | |
| solution | |||
| dgnss_solution_mode | Time Matched | Configures Duro to compute solution on receipt of observations from a reference Duro. | |
| soln_freq | 5 | Hz | 5 Hz is the current maximum time-matched solution rate on Duro. |
| output_every_n_obs | 1 | n/a | Enables 5 Hz raw observation. Observation rate must be the same as on the reference receiver. |
| send_heading | True | bool | Enables SBP/NMEA heading output. Heading is calculated from the reference receiver antenna to the attitude receiver antenna. |
| heading_offset | Depends on installation | degrees | Adds an offset to the heading output to rotate the heading vector to align output with the actual antennas installation. Valid values are -180.0 to 180.0 degrees. |
| dynamic_motion_model | High Dynamics | Sets required dynamic motion model. Use the same setting for all types of applications. | |
| udp_server0 | |||
| port | 55557 | UDP port to receive observations from the Reference Duro. | |
| enabled_sbp_messages | 0 | Configures Duro to not send any data from this port. | |
| mode | SBP | Uses SBP protocol for observations input. | |
Was this article helpful?
That’s Great!
Thank you for your feedback
Sorry! We couldn't be helpful
Thank you for your feedback
Feedback sent
We appreciate your effort and will try to fix the article