RTCM MSM maximum cycle is 1s (1hz)
The maximum cycles of RTCM1005 and 1033 on the PX1122R are 1s and 10s.
(And there is no way to increase them on the PX1122R).
ESPrtk has a feature for you to limit messages to 1005/1033 (increase cycle).
However, I think your problem is due to antenna quality, antenna placement or PX1122R firmware.
I pushed your question on Navpark forum to ask the engineers of SKYTRAQ.
I compared the RTCM messages of the commercial RTK BS with the messages of my RTK BS.
They don’t have 1005 messages.
How do I enable the 1006, 1008, 1013 messages?
I am using the “GNSS_Viewer-CustomerRelease-2.1.056” application to configure the PX1122R.
I used “GnssSurfer” application to decode RTCM message.
1005 and 1006 are essentially equivalent message types. They both carry the same information. The rovers need only one of them and it doesn’t matter which one. 1006 includes antenna height, but I’ve not heard of rover that requires that information to fix RTK.
1008 cannot be generated by either a F9P or a SkyTraq base station. This message type encodes the name of the base station. Some roving receivers require this (even though it has no position information in it) to fix RTK. I’ve found it’s sufficient to inject a blank 1008 message either using software, or an arduino between the base station receiver and your radio transmitter. Esprtk can do this for you if you used that as a base station. Neither the F9P nor PX1122R require this message type.
I’ve not seen any roving receivers that require 1013. That message is apparently one that encodes “System Parameters, time offsets, lists of messages sent” whatever that means. It’s certainly not required for a SkyTraq PX1122R rover or an F9P. It’s likely ignored when you’re using the commercial base station.
You must set up rover to accept the same 4 types of satellites as base is using.
Or maybe only 3 types if you want to reduce bytes send.
Example. If rover is set to accept 3 other satellite types than base, then rover have no satellites to calculate rtk fix.
The lower Hz output from rover, the more satellite types you can use.
For autosteer, 5 Hz is minimum from rover.
I installed the firmware (20211228) on the BS and Rover from PX1122R-EVB : PX1122R Multi-Band Quad-GNSS RTK Evaluation Board - NavSpark Store
Can anyone repeat my version?
I have older skytraq, but even when you upload newest firmware, you still have to choose which types of satellites you want your device to see. So set for example the four types: GPS, glonas, beidou and Galileo. I don’t know which is set as standard/default for your rover device.
And off course set same in base.
Above I wrote that if I disable any one RTCM message then my rover does not reach fix RTK.
The same happens when I disable constellation.
That’s very strange. RTK should be possible with only GPS RTCM messages. Certainly it should be possible with only GPS, Glonass, and Galileo. Beidou is an incomplete constellation. I don’t even bother with it at present. My F9P base station is only transmitting GPS, Glonass, and Galileo observations and my PX1122R gets RTK quickly and reliably. I am not sure what firmware version it is. Can check later. Also I haven’t yet tried setting to 5 or 10 Hz but I don’t expect any issues.
Edit: my base station messages are: 1005, 1077, 1087, 1097, and 1230. And I’ve been told 1230 isn’t even required at all on modern receivers. I’ve not bothered to disable it yet but I plan to.
It seems to me that no one uses the PX1122R as a base and Rover.
“satellite Galileo drift” on BS RTK affects the fix RTK for the rover?
@fazm. First I must admit I was wrong about the settings of a skytraq rover, it seems to be set from factory. Although I found a place in gnss viewer where you can disable qzss (maybe to get higher Hz nmea output)
But it seems to be difficult to keep a fix, but it does not explain why you are not able to change base settings without going to only float.
Perhaps try msm7 as torriem does.
In following link you see others having problems with skytraq.
There ARE settings for rover:
http://www.navsparkforum.com.tw/viewtopic.php?f=39&t=1867&p=5792&hilit=rover+constellation#p5792
User guide for GNSS Viewer:Documents — NavSpark
Thanks Larsvest, I studied the information on the links, I did not find a solution to my problem.
I enabled “Survey mode” on the RTK base yesterday and set the observation time to 36000 sec. It has been more than 12 hours, the measurement has still not stopped.
If I set the measurement duration to 60 seconds, the measurement stops.
The user manual shows the time in seconds.
RTK base mode
Saved Opt. Function: Survey Mode
Saved Survey Length:36000
Standard Deviation:30
Run-time Opt. Function: Survey Mode
Run-time Survey Length:4294860533
If it does not stop surveying in, and 12 hours is gone, then you did not get within 30 cm precision. Your picture also shows that you got around 80 cm in that time. I just used 300 sec and 30 cm. It works as base for f9p. The long time surveying should be send in for calculating precision point
I think I found the reason, it seems that my used antenna only has the L1 band or the L2 is broken. My used antenna is not labeled.
To give you an example:
In the RTCM 1074 of my BS RTK “Skytraq”, there are only messages:
MT1074 ToW 128366.0000 Signal L1_C/A
In RTCM 1074 commercial BS RTK “TRIMBLE BD970”, the messages:
MT1074 ToW 128585.0000 Signal L1_C/A
MT1074 ToW 128585.0000 Signal L2_Z-Track
MT1074 ToW 128585.0000 Signal L2C(M+L)
MT1074 ToW 128585.0000 Signal L5_I+Q
I need to check my guess
Thank you esprtk for your prompt reply.
Now I have replaced the antenna with 2J7C01MC2F L1L2.
And the RTCM messages have the range L1, L2, G1, G2.
MT1074 ToW 183078.0000 Signal L1_C/A
MT1074 ToW 183078.0000 Signal L2C(L)
MT1084 ToW 193859.0000 Signal G1_C/A
MT1084 ToW 193859.0000 Signal G2_C/A
but I have not tested it yet, I will publish the result soon.
Hi,
After my test, when Base disable SBAS.QZSS or rejoin SBAS, QZSS, it will reboot, the rover drops from rtk
fix to normal gnss fix or float, then the rover needs to take some time to re-resolve ambiguity, in my case
around 60 seconds to regain RTK fix. It can remain RTK fix after regain RTK fix.
Below, picture, the left is Rover, the right is Base, Base TX wired to Rover RX.
Your receptions of L2 on the rover receiver is not good, no L2 actually for RTK.
Did you do a cold start on the Rover after the base disable SBAS and QZSS at runtime? Was the rover able
to get RTK fix? though, in my test, I did not do a cold start.
Best regards,
Andrew
These are picture posts, so you can find them in a search.
You can move it to your own message.
I copy and paste your comment to this room to ask Skytraq team :
https://www.navsparkforum.com.tw/viewtopic.php?f=39&t=1917
We are still waiting for your result.
So, I got the results (PX1122R ).
My assumptions about the antenna were confirmed.
The problem was the antenna, the antenna was working in the L1 band.
In the user guide “GNSS-Viewer-User-Guide.rev0.2.pdf” there is no information about controlling the L1/L2 or L1 band.
Set GNSS to RTK base mode “RTK” - “Configure RTK Mode And Operational Function”.
My antenna is super strange!!!
Set GNSS to RTK base mode “RTK” - “Configure RTK Mode And Operational Function”, only L1.
Set GNSS to RTK rover mode “RTK” - “Configure RTK Mode And Operational Function”, L1 and L2.
