runtime issues - rtk_example.py

[amirt23]

Hello,

I'm having some problems running the rtk_example.py script and was hoping someone might be able to help me understand how to resolve them. I'm running the code on a machine with ARM Cortex-A78AE CPU, on ubuntu 20.04 using the pycharm IDE.

The first issue concerns not being able to properly rerun the script after terminating its previous execution using ctrl+c. On the following execution the program doesn't seem to be able to stream NMEA data from the receiver (zed 9fp).
The "Starting GNSS reader/writer on /dev/ttyACM0 @ 19200" and the "starting NTRIP client" messages are printed to the console but aren't followed with the NAV and estimated accuracy information. Where on the first execution the program is working properly. Only after a power cycle to the machine the program is able to run properly again. This problem also repeats itself while using the "PyGPSClient" GUI although indicating the connection to dev/ttyACM0 is successful.

'ls -l pycharm.sh' shows:
-rwxr-xr-x 1 user user 9288 Jan 20 1970 pycharm.sh

'ls -l /dev/ttyACM0' shows:
crw-rw---- 1 root dialout 166, 0 Aug 10 10:42 /dev/ttyACM0

The second issues occurs while also running the rtk_example.py script, the following error message is printed during run time along with the NMEA data:

Traceback (most recent call last):
File "/usr/lib/python3.9/threading.py", line 954, in _bootstrap_inner
self.run()
File "/usr/lib/python3.9/threading.py", line 892, in run
self._target(*self._args, **self._kwargs)
File "/home/user/PycharmProjects/gnss_dev/venv/lib/python3.9/site-packages/pygnssutils/gnssntripclient.py", line 454, in _read_thread
self._socket.connect(conn)
socket.timeout: timed out

I appreciate the assistance and help.

[semuadmin]

Hi @amirt23

Sorry you're having difficulties.

A socket.timeout error means exactly that - it means the NTRIP caster has not responded within the specified timeframe. I'm unclear whether the issue is that you're getting no NMEA data from the receiver, or no RTCM data from the NTRIP caster, or both?

Just to be clear, when using the pygnssutils GNSSNTRIPClient class, the NMEA GGA messages sent to the NTRIP caster are not sent from the receiver; they are generated by the NTRIP client itself (using either fixed reference coordinates, or the receiver's currently reported position, if available). So you could actually run GNSSNTRIPClient without having any receiver connected at all, if you simply wanted to test NTRIP caster connectivity. The rtk_example.py script, however, assumes you have a receiver connected.

Could you provide the following additional information:

• Which NTRIP caster and mountpoint are you attempting to connect to?
• Are you getting the expected responses from both receiver and NTRIP caster on the first connection attempt? Does the issue only arise on second or subsequent attempts?
• Does increasing the TIMEOUT value make any difference e.g. setting it to 10 or 20 rather than 3?
• You should be able to use PyGPSClient or the gnssntripclient CLI utility to connect to the NTRIP caster (using the appropriate login credentials) without necessarily having a GNSS receiver connected - can you try this, just to confirm that the NTRIP caster is responding OK?

I doubt the platform, operating system or IDE are relevant here. There should certainly be no issue re-running the rtk_example.py script after a CTRL-C termination, e.g: the following commands were executed in quick succession...

➜  examples git:(main) ✗ python3 rtk_example.py
Starting GNSS reader/writer on /dev/ttyACM1 @ 38400...

GNSS<< CFG-VALSET
GNSS>> ACK-ACK
Estimated horizontal accuracy: 1.287 m
GNSS>> NAV-PVT
... etc.
^CTerminated by user
➜  examples git:(main) ✗ python3 rtk_example.py
Starting GNSS reader/writer on /dev/ttyACM1 @ 38400...

GNSS<< CFG-VALSET
GNSS>> ACK-ACK
Estimated horizontal accuracy: 1.337 m
GNSS>> NAV-DOP
... etc.
^CTerminated by user
➜  examples git:(main) ✗ python3 rtk_example.py
Starting GNSS reader/writer on /dev/ttyACM1 @ 38400...

GNSS<< CFG-VALSET
GNSS>> ACK-ACK
Estimated horizontal accuracy: 1.214 m
GNSS>> NAV-PVT
... etc.
^CTerminated by user
➜  examples git:(main) ✗

[amirt23]

Thank you for your quick and detailed response.

Unfortunately I won't be around the setup until this upcoming Sunday so I'm not able to retest it following your suggestions. I did manage to do a quick check with the TIMEOUT parameter which seems to solve the socket.timeout error.

At the moment, I believe that the problem lies in the receiver-software interface because after reattempting to run the script only the console prints from the NTRIP client appeared. However please allow me to retest the setup again more thoroughly and address every point you wrote before drawing conclusions.

[amirt23]

I've done some tests today in light of your suggestions in order to better pinpoint the problem.

We tried to connect to the NTRIP caster and the receiver (Rx) using both thepygpsclient and the pygnssutils (rtk_example.py) interfaces. On all tests the GGA mode was set using the receiver while the GGA interval was either 60 or 15 seconds. The TIMEOUT value was set to 15 seconds in the script file.

The only consistent result was that the first attempt to the Rx connection succeed which was evident by receiving NMEA data. On the second attempt the connection to the Rx apparently failed having no NMEA data being displayed. A power cycle to the setup was able to restore the connection.
Connection to the NTRIP client sometimes worked (validated by the display of RTCM data) on both first and second attempt and sometimes only at either the first or second attempt. However, we were able to connect to the NTRIP caster while not being connected to the Rx (i.e, not reading any NMEA data but receiving RTCM data). I'm meeting toady with the CORS service technical support in order to validate why the connection fails sometimes from the caster side. Also please take not, while using the "RTK_example.py" script we were able to get RTCM mesagres printed (e.g "NTRIP>>1008") but not any NMEA accuracy data. This might suggest that the problem occurs after the connection to the Rx is made ?

I suspect that the NTRIP caster\client issues are a matter of some configuration miss match and as you described are independent with the Rx connection problem. Is there a way to resolve it ?

• Which NTRIP caster and mountpoint are you attempting to connect to?
  The NTRIP caster is of a CORS service and the mouthpoints are of type MSM or VRS.

• _Are you getting the expected responses from both receiver and NTRIP caster on the first connection attempt? Does the issue only arise on second or subsequent attempts?
  Rx always works in first attempts. NTRIP connections is inconsistent, sometimes works in either first or the second attempts and sometimes doesn't at all. The issue with the Rx arise only on subsequent attempts.

• Does increasing the TIMEOUT value make any difference e.g. setting it to 10 or 20 rather than 3?
  socket timeout error also appears inconsistent even when TIMEOUT value was changed.

• You should be able to use PyGPSClient or the gnssntripclient CLI utility to connect to the NTRIP caster (using the appropriate login credentials) without necessarily having a GNSS receiver connected - can you try this, just to confirm that the NTRIP caster is responding OK?
  Using the pyGPSClient GUI we were able to connect just to the NTRIP caster (RTCM messages were printed). However on second attempt the connection failed.

[amirt23]

We've ran several more tests and came to realize that the problems we had connecting to the NTRIP caster were a result of it not getting a valid location from us. I.e the lat, lon and alt fields values he received were all 0 due to the Rx data streaming problem. In addition the caster was blocking the communication after a period of several invalid attempts.

With respect to the Rx data streaming problem, we discoverer that the stream.in_waiting field value in the gna object (GNSSSkeletonApp class) is always 0 after the first connection and proper process termination. This corresponds to the number of bytes in the input buffer being 0.

Do you know why this can occur and also suggest a way to resolve this ?

[semuadmin]

Hi @amirt23

I'm unclear why you're getting this issue. This is a sample output from rtk_example with the idonly flag set to False (so it prints out the entire parsed data rather than just the message identity). You can see about 5 lines into the log an example of the NMEA GPGGA sentence generated by the GNSSNTRIPClient object and sent to the Caster, and the lat and lon values are clearly being populated.

➜  examples git:(main) ✗ python3 rtk_example.py
Starting GNSS reader/writer on /dev/tty.usbmodem101 @ 38400...

<UBX(NAV-PVT, iTOW=16:05:52, year=2023, month=8, day=15, hour=16, min=5, second=52, validDate=1, validTime=1, fullyResolved=1, validMag=0, tAcc=21, nano=-488578, fixType=3, gnssFixOk=1, difSoln=1, psmState=0, headVehValid=0, carrSoln=1, confirmedAvai=1, confirmedDate=1, confirmedTime=1, numSV=29, lon=-1.9737651, lat=50.7363577, height=62069, hMSL=14369, hAcc=315, vAcc=503, velN=1, velE=2, velD=-12, gSpeed=3, headMot=317.45984, sAcc=167, headAcc=180.0, pDOP=1.13, invalidLlh=0, lastCorrectionAge=6, reserved0=558842204, headVeh=0.0, magDec=0.0, magAcc=0.0)>
<UBX(NAV-PVT, iTOW=16:05:53, year=2023, month=8, day=15, hour=16, min=5, second=53, validDate=1, validTime=1, fullyResolved=1, validMag=0, tAcc=21, nano=-488911, fixType=3, gnssFixOk=1, difSoln=1, psmState=0, headVehValid=0, carrSoln=1, confirmedAvai=1, confirmedDate=1, confirmedTime=1, numSV=29, lon=-1.9737653, lat=50.7363578, height=62064, hMSL=14365, hAcc=309, vAcc=492, velN=-1, velE=-3, velD=-17, gSpeed=4, headMot=317.45984, sAcc=188, headAcc=180.0, pDOP=1.13, invalidLlh=0, lastCorrectionAge=6, reserved0=558842204, headVeh=0.0, magDec=0.0, magAcc=0.0)>
Starting NTRIP client on rtk2go.com:2101...
<NMEA(GPGGA, time=16:05:53.733259, lat=50.7363578, NS=N, lon=-1.9737653, EW=W, quality=1, numSV=15, HDOP=0, alt=14.365, altUnit=M, sep=47.699, sepUnit=M, diffAge=, diffStation=0)>
Estimated horizontal accuracy: 0.306 m
<UBX(NAV-PVT, iTOW=16:05:54, year=2023, month=8, day=15, hour=16, min=5, second=54, validDate=1, validTime=1, fullyResolved=1, validMag=0, tAcc=21, nano=-489245, fixType=3, gnssFixOk=1, difSoln=1, psmState=0, headVehValid=0, carrSoln=1, confirmedAvai=1, confirmedDate=1, confirmedTime=1, numSV=29, lon=-1.9737654, lat=50.7363578, height=62035, hMSL=14335, hAcc=306, vAcc=484, velN=-7, velE=-3, velD=-20, gSpeed=8, headMot=317.45984, sAcc=191, headAcc=180.0, pDOP=1.13, invalidLlh=0, lastCorrectionAge=7, reserved0=558842204, headVeh=0.0, magDec=0.0, magAcc=0.0)>
<UBX(NAV-SAT, iTOW=16:05:54, version=1, numSvs=47, reserved0=0, gnssId_01=GPS, svId_01=4, cno_01=0, elev_01=8, azim_01=73, prRes_01=0.0, qualityInd_01=0, svUsed_01=0, health_01=1, diffCorr_01=0, smoothed_01=0, orbitSource_01=2, ephAvail_01=1, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=0, rtcmCorrUsed_01=0, slasCorrUsed_01=0, spartnCorrUsed_01=0, prCorrUsed_01=0, crCorrUsed_01=0, doCorrUsed_01=0, gnssId_02=GPS, svId_02=5, cno_02=35, elev_02=33, azim_02=302, prRes_02=2.4, qualityInd_02=7, svUsed_02=1, health_02=1, diffCorr_02=1, smoothed_02=0, orbitSource_02=1, ephAvail_02=1, almAvail_02=1, anoAvail_02=0, aopAvail_02=0, sbasCorrUsed_02=0, rtcmCorrUsed_02=1, slasCorrUsed_02=0, spartnCorrUsed_02=0, prCorrUsed_02=1, crCorrUsed_02=1, doCorrUsed_02=0, gnssId_03=GPS, svId_03=6, cno_03=28, elev_03=23, azim_03=192, prRes_03=-2.5, qualityInd_03=7, svUsed_03=1, health_03=1, diffCorr_03=1, smoothed_03=0, orbitSource_03=1, ephAvail_03=1, almAvail_03=1, anoAvail_03=0, aopAvail_03=0, sbasCorrUsed_03=0, rtcmCorrUsed_03=1, slasCorrUsed_03=0, spartnCorrUsed_03=0, prCorrUsed_03=1, crCorrUsed_03=1, doCorrUsed_03=0, gnssId_04=GPS, svId_04=7, cno_04=48, elev_04=63, azim_04=109, prRes_04=0.7, qualityInd_04=7, svUsed_04=1, health_04=1, diffCorr_04=1, smoothed_04=0, orbitSource_04=1, ephAvail_04=1, almAvail_04=1, anoAvail_04=0, aopAvail_04=0, sbasCorrUsed_04=0, rtcmCorrUsed_04=1, slasCorrUsed_04=0, spartnCorrUsed_04=0, prCorrUsed_04=1, crCorrUsed_04=1, doCorrUsed_04=0, gnssId_05=GPS, svId_05=9, cno_05=37, elev_05=37, azim_05=73, prRes_05=1.8, qualityInd_05=7, svUsed_05=1, health_05=1, diffCorr_05=1, smoothed_05=0, orbitSource_05=1, ephAvail_05=1, almAvail_05=1, anoAvail_05=0, aopAvail_05=0, sbasCorrUsed_05=0, rtcmCorrUsed_05=1, slasCorrUsed_05=0, spartnCorrUsed_05=0, prCorrUsed_05=1, crCorrUsed_05=1, doCorrUsed_05=0, gnssId_06=GPS, svId_06=11, cno_06=37, elev_06=49, azim_06=236, prRes_06=2.9, qualityInd_06=7, svUsed_06=1, health_06=1, diffCorr_06=1, smoothed_06=0, orbitSource_06=1, ephAvail_06=1, almAvail_06=1, anoAvail_06=0, aopAvail_06=0, sbasCorrUsed_06=0, rtcmCorrUsed_06=1, slasCorrUsed_06=0, spartnCorrUsed_06=0, prCorrUsed_06=1, crCorrUsed_06=1, doCorrUsed_06=0, gnssId_07=GPS, svId_07=13, cno_07=28, elev_07=14, azim_07=249, prRes_07=-0.5, qualityInd_07=7, svUsed_07=1, health_07=1, diffCorr_07=1, smoothed_07=0, orbitSource_07=1, ephAvail_07=1, almAvail_07=1, anoAvail_07=0, aopAvail_07=0, sbasCorrUsed_07=0, rtcmCorrUsed_07=1, slasCorrUsed_07=0, spartnCorrUsed_07=0, prCorrUsed_07=1, crCorrUsed_07=1, doCorrUsed_07=0, gnssId_08=GPS, svId_08=16, cno_08=25, elev_08=10, azim_08=29, prRes_08=7.4, qualityInd_08=4, svUsed_08=0, health_08=1, diffCorr_08=0, smoothed_08=0, orbitSource_08=1, ephAvail_08=1, almAvail_08=1, anoAvail_08=0, aopAvail_08=0, sbasCorrUsed_08=0, rtcmCorrUsed_08=0, slasCorrUsed_08=0, spartnCorrUsed_08=0, prCorrUsed_08=0, crCorrUsed_08=0, doCorrUsed_08=0, gnssId_09=GPS, svId_09=20, cno_09=36, elev_09=63, azim_09=290, prRes_09=0.8, qualityInd_09=7, svUsed_09=1, health_09=1, diffCorr_09=1, smoothed_09=0, orbitSource_09=1, ephAvail_09=1, almAvail_09=1, anoAvail_09=0, aopAvail_09=0, sbasCorrUsed_09=0, rtcmCorrUsed_09=1, slasCorrUsed_09=0, spartnCorrUsed_09=0, prCorrUsed_09=1, crCorrUsed_09=1, doCorrUsed_09=0, gnssId_10=GPS, svId_10=29, cno_10=26, elev_10=10, azim_10=313, prRes_10=-1.1, qualityInd_10=7, svUsed_10=0, health_10=1, diffCorr_10=0, smoothed_10=0, orbitSource_10=1, ephAvail_10=1, almAvail_10=1, anoAvail_10=0, aopAvail_10=0, sbasCorrUsed_10=0, rtcmCorrUsed_10=0, slasCorrUsed_10=0, spartnCorrUsed_10=0, prCorrUsed_10=0, crCorrUsed_10=0, doCorrUsed_10=0, gnssId_11=GPS, svId_11=30, cno_11=35, elev_11=52, azim_11=170, prRes_11=1.4, qualityInd_11=7, svUsed_11=1, health_11=1, diffCorr_11=1, smoothed_11=0, orbitSource_11=1, ephAvail_11=1, almAvail_11=1, anoAvail_11=0, aopAvail_11=0, sbasCorrUsed_11=0, rtcmCorrUsed_11=1, slasCorrUsed_11=0, spartnCorrUsed_11=0, prCorrUsed_11=1, crCorrUsed_11=1, doCorrUsed_11=0, gnssId_12=SBAS, svId_12=123, cno_12=43, elev_12=27, azim_12=148, prRes_12=0.0, qualityInd_12=7, svUsed_12=0, health_12=0, diffCorr_12=0, smoothed_12=0, orbitSource_12=2, ephAvail_12=1, almAvail_12=1, anoAvail_12=0, aopAvail_12=0, sbasCorrUsed_12=0, rtcmCorrUsed_12=0, slasCorrUsed_12=0, spartnCorrUsed_12=0, prCorrUsed_12=0, crCorrUsed_12=0, doCorrUsed_12=0, gnssId_13=SBAS, svId_13=136, cno_13=41, elev_13=32, azim_13=171, prRes_13=0.0, qualityInd_13=7, svUsed_13=0, health_13=1, diffCorr_13=0, smoothed_13=0, orbitSource_13=2, ephAvail_13=1, almAvail_13=1, anoAvail_13=0, aopAvail_13=0, sbasCorrUsed_13=0, rtcmCorrUsed_13=0, slasCorrUsed_13=0, spartnCorrUsed_13=0, prCorrUsed_13=0, crCorrUsed_13=0, doCorrUsed_13=0, gnssId_14=Galileo, svId_14=4, cno_14=43, elev_14=40, azim_14=73, prRes_14=0.0, qualityInd_14=7, svUsed_14=1, health_14=1, diffCorr_14=1, smoothed_14=0, orbitSource_14=1, ephAvail_14=1, almAvail_14=1, anoAvail_14=0, aopAvail_14=0, sbasCorrUsed_14=0, rtcmCorrUsed_14=1, slasCorrUsed_14=0, spartnCorrUsed_14=0, prCorrUsed_14=1, crCorrUsed_14=1, doCorrUsed_14=0, gnssId_15=Galileo, svId_15=5, cno_15=31, elev_15=29, azim_15=259, prRes_15=0.1, qualityInd_15=7, svUsed_15=1, health_15=1, diffCorr_15=1, smoothed_15=0, orbitSource_15=1, ephAvail_15=1, almAvail_15=1, anoAvail_15=0, aopAvail_15=0, sbasCorrUsed_15=0, rtcmCorrUsed_15=1, slasCorrUsed_15=0, spartnCorrUsed_15=0, prCorrUsed_15=1, crCorrUsed_15=1, doCorrUsed_15=0, gnssId_16=Galileo, svId_16=9, cno_16=38, elev_16=84, azim_16=299, prRes_16=1.0, qualityInd_16=7, svUsed_16=1, health_16=1, diffCorr_16=1, smoothed_16=0, orbitSource_16=1, ephAvail_16=1, almAvail_16=1, anoAvail_16=0, aopAvail_16=0, sbasCorrUsed_16=0, rtcmCorrUsed_16=1, slasCorrUsed_16=0, spartnCorrUsed_16=0, prCorrUsed_16=1, crCorrUsed_16=1, doCorrUsed_16=0, gnssId_17=Galileo, svId_17=11, cno_17=17, elev_17=15, azim_17=186, prRes_17=-2.6, qualityInd_17=4, svUsed_17=1, health_17=1, diffCorr_17=1, smoothed_17=0, orbitSource_17=1, ephAvail_17=1, almAvail_17=1, anoAvail_17=0, aopAvail_17=0, sbasCorrUsed_17=0, rtcmCorrUsed_17=1, slasCorrUsed_17=0, spartnCorrUsed_17=0, prCorrUsed_17=1, crCorrUsed_17=0, doCorrUsed_17=0, gnssId_18=Galileo, svId_18=15, cno_18=0, elev_18=0, azim_18=339, prRes_18=0.0, qualityInd_18=0, svUsed_18=0, health_18=1, diffCorr_18=0, smoothed_18=0, orbitSource_18=2, ephAvail_18=1, almAvail_18=1, anoAvail_18=0, aopAvail_18=0, sbasCorrUsed_18=0, rtcmCorrUsed_18=0, slasCorrUsed_18=0, spartnCorrUsed_18=0, prCorrUsed_18=0, crCorrUsed_18=0, doCorrUsed_18=0, gnssId_19=Galileo, svId_19=21, cno_19=21, elev_19=10, azim_19=25, prRes_19=-4.4, qualityInd_19=4, svUsed_19=0, health_19=1, diffCorr_19=0, smoothed_19=0, orbitSource_19=1, ephAvail_19=1, almAvail_19=1, anoAvail_19=0, aopAvail_19=0, sbasCorrUsed_19=0, rtcmCorrUsed_19=0, slasCorrUsed_19=0, spartnCorrUsed_19=0, prCorrUsed_19=0, crCorrUsed_19=0, doCorrUsed_19=0, gnssId_20=Galileo, svId_20=31, cno_20=16, elev_20=14, azim_20=126, prRes_20=-9.2, qualityInd_20=4, svUsed_20=1, health_20=1, diffCorr_20=0, smoothed_20=0, orbitSource_20=1, ephAvail_20=1, almAvail_20=1, anoAvail_20=0, aopAvail_20=0, sbasCorrUsed_20=0, rtcmCorrUsed_20=0, slasCorrUsed_20=0, spartnCorrUsed_20=0, prCorrUsed_20=0, crCorrUsed_20=0, doCorrUsed_20=0, gnssId_21=Galileo, svId_21=34, cno_21=38, elev_21=36, azim_21=304, prRes_21=2.1, qualityInd_21=7, svUsed_21=1, health_21=1, diffCorr_21=1, smoothed_21=0, orbitSource_21=1, ephAvail_21=1, almAvail_21=1, anoAvail_21=0, aopAvail_21=0, sbasCorrUsed_21=0, rtcmCorrUsed_21=1, slasCorrUsed_21=0, spartnCorrUsed_21=0, prCorrUsed_21=1, crCorrUsed_21=1, doCorrUsed_21=0, gnssId_22=Galileo, svId_22=36, cno_22=37, elev_22=46, azim_22=231, prRes_22=-0.9, qualityInd_22=7, svUsed_22=1, health_22=1, diffCorr_22=1, smoothed_22=0, orbitSource_22=1, ephAvail_22=1, almAvail_22=1, anoAvail_22=0, aopAvail_22=0, sbasCorrUsed_22=0, rtcmCorrUsed_22=1, slasCorrUsed_22=0, spartnCorrUsed_22=0, prCorrUsed_22=1, crCorrUsed_22=1, doCorrUsed_22=0, gnssId_23=BeiDou, svId_23=5, cno_23=0, elev_23=9, azim_23=114, prRes_23=0.0, qualityInd_23=0, svUsed_23=0, health_23=2, diffCorr_23=0, smoothed_23=0, orbitSource_23=2, ephAvail_23=1, almAvail_23=1, anoAvail_23=0, aopAvail_23=0, sbasCorrUsed_23=0, rtcmCorrUsed_23=0, slasCorrUsed_23=0, spartnCorrUsed_23=0, prCorrUsed_23=0, crCorrUsed_23=0, doCorrUsed_23=0, gnssId_24=BeiDou, svId_24=7, cno_24=0, elev_24=1, azim_24=69, prRes_24=0.0, qualityInd_24=0, svUsed_24=0, health_24=1, diffCorr_24=0, smoothed_24=0, orbitSource_24=2, ephAvail_24=1, almAvail_24=1, anoAvail_24=0, aopAvail_24=0, sbasCorrUsed_24=0, rtcmCorrUsed_24=0, slasCorrUsed_24=0, spartnCorrUsed_24=0, prCorrUsed_24=0, crCorrUsed_24=0, doCorrUsed_24=0, gnssId_25=BeiDou, svId_25=9, cno_25=18, elev_25=12, azim_25=47, prRes_25=0.0, qualityInd_25=4, svUsed_25=0, health_25=1, diffCorr_25=0, smoothed_25=0, orbitSource_25=1, ephAvail_25=1, almAvail_25=1, anoAvail_25=0, aopAvail_25=0, sbasCorrUsed_25=0, rtcmCorrUsed_25=0, slasCorrUsed_25=0, spartnCorrUsed_25=0, prCorrUsed_25=0, crCorrUsed_25=0, doCorrUsed_25=0, gnssId_26=BeiDou, svId_26=10, cno_26=0, elev_26=0, azim_26=80, prRes_26=0.0, qualityInd_26=0, svUsed_26=0, health_26=1, diffCorr_26=0, smoothed_26=0, orbitSource_26=2, ephAvail_26=1, almAvail_26=1, anoAvail_26=0, aopAvail_26=0, sbasCorrUsed_26=0, rtcmCorrUsed_26=0, slasCorrUsed_26=0, spartnCorrUsed_26=0, prCorrUsed_26=0, crCorrUsed_26=0, doCorrUsed_26=0, gnssId_27=BeiDou, svId_27=14, cno_27=35, elev_27=79, azim_27=77, prRes_27=0.8, qualityInd_27=7, svUsed_27=1, health_27=1, diffCorr_27=1, smoothed_27=0, orbitSource_27=1, ephAvail_27=1, almAvail_27=1, anoAvail_27=0, aopAvail_27=0, sbasCorrUsed_27=0, rtcmCorrUsed_27=1, slasCorrUsed_27=0, spartnCorrUsed_27=0, prCorrUsed_27=1, crCorrUsed_27=1, doCorrUsed_27=0, gnssId_28=BeiDou, svId_28=21, cno_28=0, elev_28=3, azim_28=102, prRes_28=0.0, qualityInd_28=0, svUsed_28=0, health_28=1, diffCorr_28=0, smoothed_28=0, orbitSource_28=2, ephAvail_28=1, almAvail_28=1, anoAvail_28=0, aopAvail_28=0, sbasCorrUsed_28=0, rtcmCorrUsed_28=0, slasCorrUsed_28=0, spartnCorrUsed_28=0, prCorrUsed_28=0, crCorrUsed_28=0, doCorrUsed_28=0, gnssId_29=BeiDou, svId_29=24, cno_29=42, elev_29=36, azim_29=147, prRes_29=2.8, qualityInd_29=7, svUsed_29=1, health_29=1, diffCorr_29=1, smoothed_29=0, orbitSource_29=1, ephAvail_29=1, almAvail_29=1, anoAvail_29=0, aopAvail_29=0, sbasCorrUsed_29=0, rtcmCorrUsed_29=1, slasCorrUsed_29=0, spartnCorrUsed_29=0, prCorrUsed_29=1, crCorrUsed_29=1, doCorrUsed_29=0, gnssId_30=BeiDou, svId_30=26, cno_30=41, elev_30=43, azim_30=81, prRes_30=2.1, qualityInd_30=7, svUsed_30=1, health_30=1, diffCorr_30=1, smoothed_30=0, orbitSource_30=1, ephAvail_30=1, almAvail_30=1, anoAvail_30=0, aopAvail_30=0, sbasCorrUsed_30=0, rtcmCorrUsed_30=1, slasCorrUsed_30=0, spartnCorrUsed_30=0, prCorrUsed_30=1, crCorrUsed_30=1, doCorrUsed_30=0, gnssId_31=BeiDou, svId_31=27, cno_31=28, elev_31=19, azim_31=309, prRes_31=-10.0, qualityInd_31=7, svUsed_31=1, health_31=1, diffCorr_31=1, smoothed_31=0, orbitSource_31=1, ephAvail_31=1, almAvail_31=1, anoAvail_31=0, aopAvail_31=0, sbasCorrUsed_31=0, rtcmCorrUsed_31=1, slasCorrUsed_31=0, spartnCorrUsed_31=0, prCorrUsed_31=1, crCorrUsed_31=1, doCorrUsed_31=0, gnssId_32=BeiDou, svId_32=28, cno_32=33, elev_32=22, azim_32=259, prRes_32=-6.4, qualityInd_32=7, svUsed_32=1, health_32=1, diffCorr_32=1, smoothed_32=0, orbitSource_32=1, ephAvail_32=1, almAvail_32=1, anoAvail_32=0, aopAvail_32=0, sbasCorrUsed_32=0, rtcmCorrUsed_32=1, slasCorrUsed_32=0, spartnCorrUsed_32=0, prCorrUsed_32=1, crCorrUsed_32=1, doCorrUsed_32=0, gnssId_33=BeiDou, svId_33=33, cno_33=24, elev_33=70, azim_33=297, prRes_33=1.4, qualityInd_33=5, svUsed_33=1, health_33=1, diffCorr_33=1, smoothed_33=0, orbitSource_33=1, ephAvail_33=1, almAvail_33=1, anoAvail_33=0, aopAvail_33=0, sbasCorrUsed_33=0, rtcmCorrUsed_33=1, slasCorrUsed_33=0, spartnCorrUsed_33=0, prCorrUsed_33=1, crCorrUsed_33=1, doCorrUsed_33=0, gnssId_34=BeiDou, svId_34=40, cno_34=0, elev_34=1, azim_34=60, prRes_34=0.0, qualityInd_34=0, svUsed_34=0, health_34=1, diffCorr_34=0, smoothed_34=0, orbitSource_34=2, ephAvail_34=0, almAvail_34=1, anoAvail_34=0, aopAvail_34=0, sbasCorrUsed_34=0, rtcmCorrUsed_34=0, slasCorrUsed_34=0, spartnCorrUsed_34=0, prCorrUsed_34=0, crCorrUsed_34=0, doCorrUsed_34=0, gnssId_35=BeiDou, svId_35=41, cno_35=0, elev_35=18, azim_35=285, prRes_35=0.0, qualityInd_35=0, svUsed_35=0, health_35=1, diffCorr_35=0, smoothed_35=0, orbitSource_35=2, ephAvail_35=0, almAvail_35=1, anoAvail_35=0, aopAvail_35=0, sbasCorrUsed_35=0, rtcmCorrUsed_35=0, slasCorrUsed_35=0, spartnCorrUsed_35=0, prCorrUsed_35=0, crCorrUsed_35=0, doCorrUsed_35=0, gnssId_36=BeiDou, svId_36=42, cno_36=44, elev_36=51, azim_36=96, prRes_36=3.1, qualityInd_36=7, svUsed_36=1, health_36=1, diffCorr_36=0, smoothed_36=0, orbitSource_36=1, ephAvail_36=1, almAvail_36=1, anoAvail_36=0, aopAvail_36=0, sbasCorrUsed_36=0, rtcmCorrUsed_36=0, slasCorrUsed_36=0, spartnCorrUsed_36=0, prCorrUsed_36=0, crCorrUsed_36=0, doCorrUsed_36=0, gnssId_37=BeiDou, svId_37=45, cno_37=0, elev_37=10, azim_37=32, prRes_37=0.0, qualityInd_37=0, svUsed_37=0, health_37=1, diffCorr_37=0, smoothed_37=0, orbitSource_37=2, ephAvail_37=0, almAvail_37=1, anoAvail_37=0, aopAvail_37=0, sbasCorrUsed_37=0, rtcmCorrUsed_37=0, slasCorrUsed_37=0, spartnCorrUsed_37=0, prCorrUsed_37=0, crCorrUsed_37=0, doCorrUsed_37=0, gnssId_38=GLONASS, svId_38=5, cno_38=37, elev_38=29, azim_38=81, prRes_38=2.2, qualityInd_38=7, svUsed_38=1, health_38=1, diffCorr_38=1, smoothed_38=0, orbitSource_38=1, ephAvail_38=1, almAvail_38=1, anoAvail_38=0, aopAvail_38=0, sbasCorrUsed_38=0, rtcmCorrUsed_38=1, slasCorrUsed_38=0, spartnCorrUsed_38=0, prCorrUsed_38=1, crCorrUsed_38=1, doCorrUsed_38=0, gnssId_39=GLONASS, svId_39=6, cno_39=26, elev_39=70, azim_39=338, prRes_39=-4.3, qualityInd_39=4, svUsed_39=1, health_39=1, diffCorr_39=1, smoothed_39=0, orbitSource_39=1, ephAvail_39=1, almAvail_39=1, anoAvail_39=0, aopAvail_39=0, sbasCorrUsed_39=0, rtcmCorrUsed_39=1, slasCorrUsed_39=0, spartnCorrUsed_39=0, prCorrUsed_39=1, crCorrUsed_39=0, doCorrUsed_39=0, gnssId_40=GLONASS, svId_40=7, cno_40=31, elev_40=26, azim_40=286, prRes_40=-5.0, qualityInd_40=7, svUsed_40=1, health_40=1, diffCorr_40=1, smoothed_40=0, orbitSource_40=1, ephAvail_40=1, almAvail_40=1, anoAvail_40=0, aopAvail_40=0, sbasCorrUsed_40=0, rtcmCorrUsed_40=1, slasCorrUsed_40=0, spartnCorrUsed_40=0, prCorrUsed_40=1, crCorrUsed_40=1, doCorrUsed_40=0, gnssId_41=GLONASS, svId_41=9, cno_41=0, elev_41=0, azim_41=171, prRes_41=0.0, qualityInd_41=1, svUsed_41=0, health_41=1, diffCorr_41=0, smoothed_41=0, orbitSource_41=2, ephAvail_41=0, almAvail_41=1, anoAvail_41=0, aopAvail_41=0, sbasCorrUsed_41=0, rtcmCorrUsed_41=0, slasCorrUsed_41=0, spartnCorrUsed_41=0, prCorrUsed_41=0, crCorrUsed_41=0, doCorrUsed_41=0, gnssId_42=GLONASS, svId_42=14, cno_42=27, elev_42=8, azim_42=16, prRes_42=0.0, qualityInd_42=7, svUsed_42=0, health_42=1, diffCorr_42=0, smoothed_42=0, orbitSource_42=1, ephAvail_42=1, almAvail_42=1, anoAvail_42=0, aopAvail_42=0, sbasCorrUsed_42=0, rtcmCorrUsed_42=0, slasCorrUsed_42=0, spartnCorrUsed_42=0, prCorrUsed_42=0, crCorrUsed_42=0, doCorrUsed_42=0, gnssId_43=GLONASS, svId_43=15, cno_43=44, elev_43=40, azim_43=59, prRes_43=2.7, qualityInd_43=7, svUsed_43=1, health_43=1, diffCorr_43=1, smoothed_43=0, orbitSource_43=1, ephAvail_43=1, almAvail_43=1, anoAvail_43=0, aopAvail_43=0, sbasCorrUsed_43=0, rtcmCorrUsed_43=1, slasCorrUsed_43=0, spartnCorrUsed_43=0, prCorrUsed_43=1, crCorrUsed_43=1, doCorrUsed_43=0, gnssId_44=GLONASS, svId_44=16, cno_44=46, elev_44=36, azim_44=131, prRes_44=2.0, qualityInd_44=7, svUsed_44=1, health_44=1, diffCorr_44=1, smoothed_44=0, orbitSource_44=1, ephAvail_44=1, almAvail_44=1, anoAvail_44=0, aopAvail_44=0, sbasCorrUsed_44=0, rtcmCorrUsed_44=1, slasCorrUsed_44=0, spartnCorrUsed_44=0, prCorrUsed_44=1, crCorrUsed_44=1, doCorrUsed_44=0, gnssId_45=GLONASS, svId_45=21, cno_45=32, elev_45=28, azim_45=238, prRes_45=3.0, qualityInd_45=7, svUsed_45=1, health_45=1, diffCorr_45=1, smoothed_45=0, orbitSource_45=1, ephAvail_45=1, almAvail_45=1, anoAvail_45=0, aopAvail_45=0, sbasCorrUsed_45=0, rtcmCorrUsed_45=1, slasCorrUsed_45=0, spartnCorrUsed_45=0, prCorrUsed_45=1, crCorrUsed_45=1, doCorrUsed_45=0, gnssId_46=GLONASS, svId_46=22, cno_46=38, elev_46=38, azim_46=296, prRes_46=3.0, qualityInd_46=7, svUsed_46=1, health_46=1, diffCorr_46=1, smoothed_46=0, orbitSource_46=1, ephAvail_46=1, almAvail_46=1, anoAvail_46=0, aopAvail_46=0, sbasCorrUsed_46=0, rtcmCorrUsed_46=1, slasCorrUsed_46=0, spartnCorrUsed_46=0, prCorrUsed_46=1, crCorrUsed_46=1, doCorrUsed_46=0, gnssId_47=GLONASS, svId_47=23, cno_47=28, elev_47=10, azim_47=348, prRes_47=0.0, qualityInd_47=3, svUsed_47=0, health_47=1, diffCorr_47=0, smoothed_47=0, orbitSource_47=2, ephAvail_47=1, almAvail_47=1, anoAvail_47=0, aopAvail_47=0, sbasCorrUsed_47=0, rtcmCorrUsed_47=0, slasCorrUsed_47=0, spartnCorrUsed_47=0, prCorrUsed_47=0, crCorrUsed_47=0, doCorrUsed_47=0)>
<RTCM(1127, DF002=1127, DF003=0, GNSSEpoch=230758001, DF393=0, DF409=0, DF001_7=0, DF411=0, DF412=0, DF417=0, DF418=0, DF394=37156279621255168, NSat=7, DF395=1074003968, NSig=2, DF396=16042, NCell=9, DF397_01(009)=134, DF397_02(014)=71, DF397_03(024)=79, DF397_04(026)=77, DF397_05(027)=83, DF397_06(028)=83, DF397_07(033)=73, GNSSSpecific_01(009)=0, GNSSSpecific_02(014)=0, GNSSSpecific_03(024)=0, GNSSSpecific_04(026)=0, GNSSSpecific_05(027)=0, GNSSSpecific_06(028)=0, GNSSSpecific_07(033)=0, DF398_01(009)=0.0869140625, DF398_02(014)=0.9794921875, DF398_03(024)=0.296875, DF398_04(026)=0.2177734375, DF398_05(027)=0.1201171875, DF398_06(028)=0.193359375, DF398_07(033)=0.708984375, DF399_01(009)=-200, DF399_02(014)=-114, DF399_03(024)=530, DF399_04(026)=16, DF399_05(027)=-3, DF399_06(028)=-451, DF399_07(033)=195, DF405_01(009,2I)=7.69495964050293e-05, DF405_02(009,7I)=5.2791088819503784e-05, DF405_03(014,2I)=0.000193888321518898, DF405_04(014,7I)=0.00015928968787193298, DF405_05(024,2I)=-3.944709897041321e-05, DF405_06(026,2I)=0.00035076774656772614, DF405_07(027,2I)=-0.00029138103127479553, DF405_08(028,2I)=-0.00022592395544052124, DF405_09(033,2I)=-0.0003787558525800705, DF406_01(009,2I)=9.031407535076141e-05, DF406_02(009,7I)=7.645366713404655e-05, DF406_03(014,2I)=0.00020707305520772934, DF406_04(014,7I)=0.00017747189849615097, DF406_05(024,2I)=-3.777444362640381e-06, DF406_06(026,2I)=0.000371771864593029, DF406_07(027,2I)=-0.0002890685573220253, DF406_08(028,2I)=-0.00023652752861380577, DF406_09(033,2I)=-0.00037755677476525307, DF407_01(009,2I)=652, DF407_02(009,7I)=652, DF407_03(014,2I)=608, DF407_04(014,7I)=608, DF407_05(024,2I)=559, DF407_06(026,2I)=583, DF407_07(027,2I)=548, DF407_08(028,2I)=605, DF407_09(033,2I)=503, DF420_01(009,2I)=0, DF420_02(009,7I)=0, DF420_03(014,2I)=0, DF420_04(014,7I)=0, DF420_05(024,2I)=0, DF420_06(026,2I)=0, DF420_07(027,2I)=0, DF420_08(028,2I)=0, DF420_09(033,2I)=0, DF408_01(009,2I)=35.0, DF408_02(009,7I)=40.0, DF408_03(014,2I)=45.0, DF408_04(014,7I)=50.0, DF408_05(024,2I)=45.0, DF408_06(026,2I)=45.0, DF408_07(027,2I)=41.0, DF408_08(028,2I)=43.0, DF408_09(033,2I)=47.0, DF404_01(009,2I)=-0.0455, DF404_02(009,7I)=-0.037200000000000004, DF404_03(014,2I)=-0.1648, DF404_04(014,7I)=-0.1655, DF404_05(024,2I)=0.5957, DF404_06(026,2I)=0.5923, DF404_07(027,2I)=-0.8727, DF404_08(028,2I)=-0.6487, DF404_09(033,2I)=0.8109000000000001)>
<RTCM(1230, DF002=1230, DF003=0, DF421=1, DF001_3=0, DF422=0, )>
<RTCM(1005, DF002=1005, DF003=0, DF021=0, DF022=1, DF023=1, DF024=1, DF141=0, DF025=3798158.6592, DF142=1, DF001_1=0, DF026=-87971.2745, DF364=0, DF027=5106104.005)>
<UBX(RXM-RTCM, version=2, crcFailed=0, msgUsed=2, subType=0, refStation=0, msgType=1127)>
<UBX(RXM-RTCM, version=2, crcFailed=0, msgUsed=2, subType=0, refStation=0, msgType=1230)>
<UBX(RXM-RTCM, version=2, crcFailed=0, msgUsed=2, subType=0, refStation=0, msgType=1005)>
Estimated horizontal accuracy: 0.301 m
<UBX(NAV-PVT, iTOW=16:05:55, year=2023, month=8, day=15, hour=16, min=5, second=55, validDate=1, validTime=1, fullyResolved=1, validMag=0, tAcc=21, nano=-489578, fixType=3, gnssFixOk=1, difSoln=1, psmState=0, headVehValid=0, carrSoln=1, confirmedAvai=1, confirmedDate=1, confirmedTime=1, numSV=29, lon=-1.9737656, lat=50.7363578, height=62010, hMSL=14310, hAcc=301, vAcc=475, velN=-17, velE=0, velD=-26, gSpeed=17, headMot=317.45984, sAcc=185, headAcc=180.0, pDOP=1.13, invalidLlh=0, lastCorrectionAge=7, reserved0=558842204, headVeh=0.0, magDec=0.0, magAcc=0.0)>
<UBX(NAV-DOP, iTOW=16:05:55, gDOP=1.31, pDOP=1.13, tDOP=0.66, vDOP=0.97, hDOP=0.58, nDOP=0.47, eDOP=0.34)>
<RTCM(4072, DF002=4072, Not_Yet_Implemented)>

To clarify once again, the GNSSNTRIPClient class which is used in the rtk_example.py script is capable of automatically generating an NMEA GGA sentence and sending this to the NTRIP Caster, but in order for it to do this the following settings must be used:

EITHER:

• GGAMODE = 0 (use location from receiver)
• GGAINT > 0 (60 seconds is a typical value)
• receiver is outputting a valid position (i.e. it has at least a 2D fix)

OR:

• GGAMODE = 1 (use fixed reference coordinates)
• GGAINT > 0 (60 seconds is a typical value)
• REFLAT = a valid latitude value
• REFLON = a valid longitude value
• REFALT = a valid altitude (height above sea level)
• REFSEP = a valid separation value (separation of altitude from geoid)

Can you send me a complete, unredacted copy of the rtk_example.py script you're actually running and I'll endeavour to see if I'm able to recreate the issue using your settings (send a zipped copy by email to [email protected] if you'd prefer not to share it in this Discussion).

What happens if you use the CLI utility gnssntripclient with your Caster using the same settings (substitute your reference coordinate values)? e.g.

gnssntripclient -S YOURCASTER -M YOURMOUNTPOINT --ntripuser YOURUSER --ntrippassword YOURPASSWORD --ggamode 1 --reflat 51.45 --reflon -2.21 --refalt 32 --refsep 3

Thanks.

[smartcode63]

Does rtk example work with http:https://rtkdata.online NTRIP caster?

[semuadmin]

Assuming rtkdata.online implements a standard NTRIP 2.0 protocol, there should be no reason why it shouldn't work. Have you tried it?