# RTK GNSS
###### tags: `software` `electrical_system` `NTURT`

## Hardware

- [ZED-F9P GPS-RTK HAT](https://www.waveshare.com/wiki/ZED-F9P_GPS-RTK_HAT)
- [LC29H(XX) GPS/RTK HAT](https://www.waveshare.com/wiki/LC29H(XX)_GPS/RTK_HAT) (we have LC29H(DA) varient)

## Software

### NTRIP

#### Archecture

- Server
- Base stations, provides RTK correction data
- Client
- Rover, consume RTK correction data to achieve centimeter level precision
- Caster
- Broker of RTK correction data, acting as a network server for servers and clients to connect to and exchange correction data

#### Solutions

- [RTKBase](https://github.com/Stefal/rtkbase?tab=readme-ov-file) (server, caster)
- [SNIP NTRIP caster](https://www.use-snip.com/) (caster)
- Setup your own caster
- [RTK2go](http://rtk2go.com/) (caster)
- Free caster built with SNIP, and free base station
- Currently no suitable free base station for us, checkout from: [RTK2go NTRIP caster table](http://monitor.use-snip.com/?hostUrl=rtk2go.com&port=2101) (using `View All` button)

## Setup

### Base station

- Requires precise coordinates of the antenna: [reference](https://gpswebshop.com/blogs/rtk-real-time-kinematic-technology/how-to-get-a-very-precise-coordinate-of-your-rtk-base-station)