{"id":9273,"date":"2024-11-19T21:30:51","date_gmt":"2024-11-19T13:30:51","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=9273"},"modified":"2025-09-08T15:43:09","modified_gmt":"2025-09-08T07:43:09","slug":"gnss-g70%e5%b7%ae%e5%88%86%e5%ae%9a%e4%bd%8drtk%e6%a8%a1%e5%9d%97","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=9273","title":{"rendered":"GNSS\u2014G70\u5dee\u5206\u5b9a\u4f4dRTK\u6a21\u5757"},"content":{"rendered":"<p>\u4eca\u5929\u65b0\u5230\u4e00\u4e2aG70 RTK\u5b9a\u4f4d\u6a21\u5757\uff0c\u5b83\u652f\u6301\u591a\u79cd\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff0c\u5305\u62ec\u4e2d\u56fdBDS\u5317\u6597\uff0c\u7f8e\u56fdGPS\uff0c\u4fc4\u7f57\u65afGLONASS\u3001\u6b27\u6d32Galileo\uff0c\u65e5\u672cQZSS\u536b\u661f\u5b9a\u4f4d\u7cfb\u7edf\u3002G70\u5185\u7f6eRTCM\u66f4\u6b63\uff0c\u901a\u8fc7\u672c\u5730\u57fa\u7ad9\u6216\u7f51\u7edc RTK\u8bbe\u7f6e\u4e2d\u7684\u865a\u62df\u53c2\u8003\u7ad9(VRS)\uff0c\u53ef\u4ee5\u652f\u6301\u5398\u7c73\u7ea7\u5b9a\u4f4d\u3002<\/p>\n<p>\u672c\u6587\u5c31\u5e26\u5927\u5bb6\u4e00\u8d77\u9a8c\u8bc1\u4e0b\u5b83\u7684\u5b9a\u4f4d\u6548\u679c\u3002<\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<h4>1. GNSS\u5b9a\u4f4d\u539f\u7406\u4e0eRTK\u7b80\u4ecb<\/h4>\n<h6>1.1 GNSS\u5b9a\u4f4d\u539f\u7406<\/h6>\n<p>GPS \u7684\u5de5\u4f5c\u539f\u7406\u662f\u4f7f\u7528\u7ed5\u5730\u7403\u8fd0\u884c\u7684\u536b\u661f\u5c06\u4fe1\u53f7\u4f20\u8f93\u5230\u5730\u9762\u4e0a\u7684 GPS \u63a5\u6536\u5668\uff0c\u7136\u540e\u63a5\u6536\u5668\u6839\u636e\u4fe1\u53f7\u4ece\u536b\u661f\u4f20\u8f93\u5230\u63a5\u6536\u5668\u6240\u9700\u7684\u65f6\u95f4\u8ba1\u7b97\u5176\u4f4d\u7f6e\u3002\u901a\u8fc7\u63a5\u6536\u6765\u81ea\u4e09\u4e2a\u6216\u66f4\u591a\u536b\u661f\u7684\u4fe1\u53f7\uff0c\u63a5\u6536\u5668\u53ef\u4ee5\u786e\u5b9a\u5176\u7eac\u5ea6\u3001\u7ecf\u5ea6\u548c\u9ad8\u5ea6\u3002<\/p>\n<div>\n<p>\u4e3b\u6d41\u7684\u536b\u661f\u5b9a\u4f4d\u7cfb\u7edf\uff1a<\/p>\n<table style=\"height: 540px;\" width=\"625\">\n<thead>\n<tr>\n<th><strong>ID<\/strong><\/th>\n<th><strong>\u7cfb\u7edf\u540d\u79f0<\/strong><\/th>\n<th><strong>\u82f1\u6587\u7f29\u5199<\/strong><\/th>\n<th><strong>\u7f29\u5199\u89e3\u91ca<\/strong><\/th>\n<th><strong>\u56fd\u5bb6<\/strong><\/th>\n<th><strong>\u8986\u76d6\u8303\u56f4<\/strong><\/th>\n<th><strong>\u5907\u6ce8<\/strong><\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>1<\/td>\n<td>\u5317\u6597\u536b\u661f\u5bfc\u822a\u7cfb\u7edf<\/td>\n<td>BDS<\/td>\n<td>BeiDou Navigation Satellite System<\/td>\n<td>\u4e2d\u56fd<\/td>\n<td>\u5168\u7403<\/td>\n<td>2020\u5e74\u5df2\u5b9e\u73b0\u5168\u7403\u8986\u76d6\uff0c\u5206\u4e3a\u4e09\u9636\u6bb5\uff0c\u5317\u6597\u4e8c\u4ee3\u66fe\u547d\u540dCOMPASS\u3002<\/td>\n<\/tr>\n<tr>\n<td>2<\/td>\n<td>\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf<\/td>\n<td>GPS<\/td>\n<td>Global Positioning System<\/td>\n<td>\u7f8e\u56fd<\/td>\n<td>\u5168\u7403<\/td>\n<td>\u6700\u5e7f\u6cdb\u4f7f\u7528\u7684GNSS\u7cfb\u7edf\uff0c\u63d0\u4f9b\u5168\u7403\u8303\u56f4\u7684\u5b9a\u4f4d\u670d\u52a1\u3002<\/td>\n<\/tr>\n<tr>\n<td>3<\/td>\n<td>\u683c\u6d1b\u7eb3\u65af<\/td>\n<td>GLONASS<\/td>\n<td>Global Navigation Satellite System<\/td>\n<td>\u4fc4\u7f57\u65af<\/td>\n<td>\u5168\u7403<\/td>\n<td>\u4e0eGPS\u7c7b\u4f3c\uff0c\u4e3a\u5168\u7403\u7528\u6237\u63d0\u4f9b\u5b9a\u4f4d\u670d\u52a1\u3002<\/td>\n<\/tr>\n<tr>\n<td>4<\/td>\n<td>\u4f3d\u5229\u7565\u7cfb\u7edf<\/td>\n<td>Galileo<\/td>\n<td>Galileo<\/td>\n<td>\u6b27\u76df<\/td>\n<td>\u5168\u7403<\/td>\n<td>\u63d0\u4f9b\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u670d\u52a1\uff0c\u5177\u5907\u5168\u7403\u8986\u76d6\u80fd\u529b\u3002<\/td>\n<\/tr>\n<tr>\n<td>5<\/td>\n<td>\u51c6\u5929\u9876\u536b\u661f\u7cfb\u7edf<\/td>\n<td>QZSS<\/td>\n<td>Quasi-Zenith Satellite System<\/td>\n<td>\u65e5\u672c<\/td>\n<td>\u4e3b\u8981\u8986\u76d6\u4e9a\u592a\u5730\u533a<\/td>\n<td>\u4e3b\u8981\u670d\u52a1\u65e5\u672c\u53ca\u4e9a\u592a\u5730\u533a\uff0c\u4e5f\u63d0\u4f9b\u5168\u7403\u670d\u52a1\u3002<\/td>\n<\/tr>\n<tr>\n<td>6<\/td>\n<td>\u5370\u5ea6\u533a\u57df\u5bfc\u822a\u536b\u661f\u7cfb\u7edf<\/td>\n<td>IRNSS(\u53c8\u79f0NavIC)<\/td>\n<td>Indian Regional Navigation Satellite System( Navigation with Indian Constellation)<\/td>\n<td>\u5370\u5ea6<\/td>\n<td>\u533a\u57df\u6027\uff08\u5370\u5ea6\u53ca\u5468\u8fb9\uff09<\/td>\n<td>\u4e3b\u8981\u4e3a\u5370\u5ea6\u53ca\u5468\u8fb9\u533a\u57df\u63d0\u4f9b\u7cbe\u786e\u5b9a\u4f4d\u670d\u52a1\u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<h6>1.2 RTK\u5dee\u5206\u5b9a\u4f4d<\/h6>\n<p>RTK\uff08Real-Time Kinematic\uff09\u5dee\u5206\u6280\u672f\u662f\u4e00\u79cd\u57fa\u4e8e\u536b\u661f\u7684\u7cbe\u5bc6\u5b9a\u4f4d\u6280\u672f\uff0c\u53ef\u63d0\u4f9b\u9ad8\u7cbe\u5ea6\u7684\u5b9e\u65f6\u5b9a\u4f4d\u3002RTK \u901a\u8fc7\u4f7f\u7528\u4e24\u4e2a GPS\uff08\u6216 GNSS\uff09\u63a5\u6536\u5668\u3001\u4e00\u4e2a\u4f4d\u4e8e\u5df2\u77e5\u4f4d\u7f6e\u7684\u53c2\u8003\u63a5\u6536\u5668\u548c\u4e00\u4e2a\u56db\u5904\u79fb\u52a8\u5e76\u6536\u96c6\u6570\u636e\u7684\u6d41\u52a8\u7ad9\u63a5\u6536\u5668\u6765\u5de5\u4f5c\u3002\u901a\u8fc7\u57fa\u51c6\u7ad9\u64ad\u53d1\u7684\u5dee\u5206\u77eb\u6b63\u62a5\u6587(RTCM)\u6765\u5b9e\u73b0\u5398\u7c73\u7ea7\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u3002\u4e3a\u83b7\u5f97\u5398\u7c73\u7ea7\u7cbe\u5ea6\u7684\u5b9a\u4f4d\u7ed3\u679c\uff0c\u901a\u5e38\u9700\u8981\u7528\u5230 RTK \u7b97\u6cd5\u5f15\u64ce\u3002<\/p>\n<p>\u5728\u5df2\u77e5\u7cbe\u786e\u4f4d\u7f6e\u7684\u5730\u70b9\u8bbe\u7f6e\u57fa\u51c6\u7ad9\u63a5\u6536\u673a\uff0c\u57fa\u51c6\u7ad9\u63a5\u6536\u673a\u64ad\u53d1\u5dee\u5206\u6570\u636e\uff08\u5305\u542b\u57fa\u51c6\u7ad9\u63a5\u6536\u673a\u7684\u7c7b\u578b\u3001\u4f4d\u7f6e\u3001\u89c2\u6d4b\u6570\u636e\uff09\uff0c\u6d41\u52a8\u7ad9\u63a5\u6536\u673a\u5b9e\u65f6\u63a5\u6536\u5dee\u5206\u6570\u636e\u548c\u536b\u661f\u4fe1\u53f7\uff0c\u8fdb\u884c RTK \u89e3\u7b97\uff0c\u5f53\u6d41\u52a8\u7ad9\u63a5\u6536\u673a\u6d88\u9664\u89c2\u6d4b\u6570\u636e\u4e2d\u7684\u8bef\u5dee\uff0c\u5e76\u4e14\u201c\u56fa\u5b9a\u201d\u8f7d\u6ce2\u76f8\u4f4d\u89c2\u6d4b\u91cf\u7684\u6574\u5468\u6570\uff0c\u83b7\u5f97\u5398\u7c73\u7ea7\u4f4d\u7f6e\u4fe1\u606f\u65f6\uff0c\u5373\u5b9e\u73b0\u4e86 RTK \u56fa\u5b9a\u89e3\u7b97\u3002\u53ea\u8981\u6d41\u52a8\u7ad9\u51c6\u786e\u7684\u8fdb\u5165\u56fa\u5b9a\u89e3\u7b97\u72b6\u6001\uff0c\u5e76\u4e14\u8ddf\u8e2a\u7684\u536b\u661f\u6ca1\u6709\u5931\u9501\uff0c\u5dee\u5206\u6570\u636e\u6ca1\u6709\u4e2d\u65ad\uff0c\u90a3\u4e48\u6d41\u52a8\u7ad9\u5c31\u53ef\u4ee5\u6301\u7eed\u7684\u63d0\u4f9b\u5398\u7c73\u7ea7\u7684\u4f4d\u7f6e\u4fe1\u606f\u3002\u4f46\u5982\u679c\u6d41\u52a8\u7ad9\u6700\u521d\u7684\u56fa\u5b9a\u89e3\u7b97\u4f4d\u7f6e\u6709\u504f\u5dee\uff0c\u6216\u8005\u56e0\u4e3a\u73af\u5883\u906e\u6321\u7b49\u539f\u56e0\u5bfc\u81f4\u536b\u661f\u4fe1\u53f7\u5931\u9501\uff0c\u6216\u8005\u56e0\u4e3a\u6570\u636e\u4f20\u8f93\u94fe\u8def\u5bfc\u81f4\u5dee\u5206\u6570\u636e\u4e2d\u65ad\uff0c\u90a3\u4e48\u6d41\u52a8\u7ad9\u63d0\u4f9b\u7684\u4f4d\u7f6e\u4fe1\u606f\u53ef\u80fd\u662f\u5206\u7c73\u7ea7\u6216\u8005\u7c73\u7ea7\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9286\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK-1024x300.png\" alt=\"\" width=\"625\" height=\"183\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK-1024x300.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK-300x88.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK-768x225.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK-624x183.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/RTK.png 1200w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>1.3 CORS\u7b80\u8ff0<\/h6>\n<p>CORS\uff08Continuously Operating Reference Stations\uff0c\u8fde\u7eed\u8fd0\u884c\u53c2\u8003\u7ad9\uff09\u662f\u4e00\u79cd\u57fa\u4e8e\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\uff08GPS\uff09\u548c\u5176\u4ed6\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff08\u5982 GLONASS\u3001Galileo \u548c\u5317\u6597\u7b49\uff09\u7684\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u6280\u672f\u3002\u901a\u8fc7\u5728\u5730\u9762\u4e0a\u5efa\u7acb\u4e00\u7cfb\u5217\u56fa\u5b9a\u7684\u53c2\u8003\u7ad9\u70b9\uff0c\u5c06\u8fd9\u4e9b\u7ad9\u70b9\u7684\u89c2\u6d4b\u6570\u636e\u5b9e\u65f6\u4f20\u8f93\u5230\u4e2d\u5fc3\u63a7\u5236\u7ad9\u8fdb\u884c\u5904\u7406\u548c\u5206\u6790\uff0c\u4ece\u800c\u63d0\u4f9b\u9ad8\u7cbe\u5ea6\u7684\u5b9a\u4f4d\u3001\u5bfc\u822a\u548c\u65f6\u95f4\u670d\u52a1\u3002\u53ef\u4ee5\u5c06 CORS \u5b9a\u4e49\u4e3a\u4e00\u4e2a\u6216\u82e5\u5e72\u4e2a\u56fa\u5b9a\u7684\u3001\u8fde\u7eed\u8fd0\u884c\u7684GNSS\u53c2\u8003\u7ad9\u6216\u57fa\u51c6\u7ad9\u3002<\/p>\n<p>G70 \u652f\u6301\u7528\u6237\u901a\u8fc7\u79fb\u52a8 CORS \u8d26\u53f7\u6216\u5343\u5bfb\u8d26\u53f7\u4f7f\u7528 CORS \u7cfb\u7edf\uff0c\u83b7\u5f97 RTK \u5dee\u5206\u4fe1\u53f7\u4ee5\u63d0\u9ad8\u6a21\u5757\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9302\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS-1024x623.png\" alt=\"\" width=\"625\" height=\"380\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS-1024x623.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS-300x183.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS-768x468.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS-624x380.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/CORS.png 1048w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5343\u5bfbCORS\u662f\u4e00\u6b3e\u9ad8\u53ef\u7528\u3001\u9ad8\u5e76\u53d1\u3001\u4e91\u7aef\u4e00\u4f53\u7684\u8986\u76d6\u5168\u56fd\u7684\u5398\u7c73\u7ea7\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u670d\u52a1\uff0c\u7531\u963f\u91cc\u5df4\u5df4\u96c6\u56e2\u548c\u4e2d\u56fd\u5175\u5668\u5de5\u4e1a\u96c6\u56e2\u5171\u540c\u6253\u9020\uff0c\u4f9d\u6258\u56fd\u5bb6\u5317\u6597\u5730\u57fa\u589e\u5f3a\u7cfb\u7edf\u201c\u5168\u56fd\u4e00\u5f20\u7f51\u201d\u3001\u5b9a\u4f4d\u7b97\u6cd5\u53ca\u5927\u89c4\u6a21\u4e92\u8054\u7f51\u670d\u52a1\u5e73\u53f0\uff0c\u53ef\u4ee5\u5b9e\u73b07\u271524\u5c0f\u65f6\uff0c\u4e3a\u5341\u4ebf\u7ea7\u7528\u6237\u63d0\u4f9b\u6c34\u5e73\u7cbe\u5ea62\u5398\u7c73\u3001\u9ad8\u7a0b\u7cbe\u5ea65\u5398\u7c73\u7684\u5b9e\u65f6\u5b9a\u4f4d\u6570\u636e\u3002\u53ef\u4ee5\u5b9e\u73b0\u5168\u56fd\u4efb\u610f\u8986\u76d6\u5730\u533a\u4f7f\u7528\u4e0d\u53d7\u9650\u5236\u3002<\/p>\n<p>\u539f\u7406\uff1a\u666e\u901a\u7684\u652f\u6301\u536b\u661f\u5b9a\u4f4d\u7684\u7ec8\u7aef\uff0c\u901a\u8fc7\u63a5\u6536\u536b\u661f\u4fe1\u53f7\uff0c\u83b7\u5f97\u6240\u5728\u5730\u70b9\u7684\u7c97\u4f4d\u7f6e\u6570\u636e\uff08\u975e\u7cbe\u51c6\uff09\uff0c\u901a\u8fc7\u4e92\u8054\u7f51\uff0c\u5c06\u8fd9\u4e2a\u4f4d\u7f6e\u6570\u636e(GGA)\u4e0a\u4f20\u5230CORS\u5e73\u53f0\uff0c\u4e00\u540c\u4e0a\u4f20\u7684\u8fd8\u6709Ntrip\u534f\u8bae\u53c2\u6570\u3002\u5343\u5bfbCORS\u5e73\u53f0\u83b7\u5f97\u60a8\u7684\u6570\u636e\u540e\uff0c\u901a\u8fc7\u4e92\u8054\u7f51\u4e0b\u64ad\u60a8\u6240\u5728\u5927\u81f4\u4f4d\u7f6e\u7684\u5dee\u5206\u6570\u636e\u3002\u8fd9\u4e2a\u65f6\u5019\u9700\u7528\u5230\u8bbe\u5907\u7684\u5dee\u5206\u89e3\u7b97\u529f\u80fd\uff0c\u7ed3\u5408\u539f\u59cb\u89c2\u6d4b\u503c\u548c\u5dee\u5206\u6570\u636e\uff0c\u8fdb\u884c\u89e3\u7b97\uff0c\u5b9e\u73b0\u7ea0\u504f\u3002\u6765\u8fbe\u5230\u9ad8\u7cbe\u5ea6\u7684\u4f4d\u7f6e\u5750\u6807\u3002<\/p>\n<p><img loading=\"lazy\" class=\"aligncenter wp-image-10581\" title=\"rtk-argo\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/rtk-argo-9.png\" sizes=\"(max-width: 561px) 100vw, 561px\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/rtk-argo-9.png 561w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/rtk-argo-9-300x230.png 300w\" alt=\"\" width=\"561\" height=\"431\" \/><\/p>\n<p>\u6570\u636e\u8bf4\u660e\uff1a<a href=\"https:\/\/www.cnblogs.com\/88223100\/p\/NMEA-0183.html\" target=\"_blank\" rel=\"noopener\">GPS NMEA-0183\u6807\u51c6\u8be6\u89e3<\/a><\/p>\n<ul>\n<li>RMC\uff08Recommended Minimum Specific GPS\/TRANSIT Data\uff09\uff1a\u63a8\u8350\u5b9a\u4f4d\u4fe1\u606f\u3002\u5bf9\u4e8e\u4e00\u822c\u7684GPS\u52a8\u6001\u5b9a\u4f4d\u5e94\u7528\uff0cRMC\u8bed\u53e5\u5b8c\u5168\u6ee1\u8db3\u8981\u6c42\u3002\u8be5\u8bed\u53e5\u4e2d\u5305\u62ec\u7ecf\u7eac\u5ea6\u3001\u901f\u5ea6\u3001\u65f6\u95f4\u548c\u78c1\u504f\u89d2\u7b49\u5b57\u6bb5\uff0c\u7531\u4e0b\u65b9\u7684\u539f\u59cb\u6570\u636e\u7ec4\u5408\u800c\u6210\uff0c\u7cbe\u5ea6\u901a\u5e38\u4e3a\u7c73\u7ea7\u522b\u30021HZ\u3002<\/li>\n<li>GGA\uff08Global Positioning System Fix Data\uff09\uff1a\u5b9a\u4f4d\u4e3b\u8981\u6570\u636e\u3002\u5305\u62ec\u7ecf\u7eac\u5ea6\u3001\u8d28\u91cf\u56e0\u5b50\u3001HDOP\u3001\u9ad8\u7a0b\u3001\u57fa\u51c6\u7ad9\u53f7\u7b49\u5b57\u6bb5\u30021HZ\u3002<\/li>\n<li>GSV\uff08GPS Satellites in View\uff09\uff1a\u53ef\u89c1\u536b\u661f\u4fe1\u606f\u3002GPS\u53ef\u89c1\u661f\u7684\u65b9\u4f4d\u89d2\u3001\u4fef\u4ef0\u89d2\u3001\u4fe1\u566a\u6bd4\u7b49\u3002\u6bcf\u6761\u8bed\u53e5\u6700\u591a\u5305\u62ec\u56db\u9897\u536b\u661f\u7684\u4fe1\u606f\uff0c\u6bcf\u9897\u536b\u661f\u7684\u4fe1\u606f\u6709\u56db\u4e2a\u6570\u636e\u9879\uff0c\u5373\uff1a\u536b\u661f\u53f7\u3001\u4ef0\u89d2\u3001\u65b9\u4f4d\u89d2\u3001\u4fe1\u566a\u6bd4\u30020.2HZ\u3002<\/li>\n<li>\n<div>GSA\uff08GPS DOP and Active Satellites\uff09\uff1a\u5f53\u524d\u536b\u661f\u4fe1\u606f\u3002\u5f53\u524d\u536b\u661f\u548c\u7cbe\u5ea6\u56e0\u5b50\uff0c\u5305\u62ec\u53ef\u89c1\u536b\u661f\u53f7\uff0c\u4ee5\u53ca\u4f4d\u7f6e\u3001\u6c34\u5e73\u3001\u5782\u76f4\u7cbe\u5ea6\u56e0\u5b50\u30021HZ\u3002<\/div>\n<\/li>\n<li>VTG(Track Made Good and Ground Speed\uff09\uff1a\u5730\u9762\u901f\u5ea6\u4fe1\u606f\u3002\u5305\u62ec\u822a\u5411\u3001\u901f\u5ea6\u7b49\u4fe1\u606f\u3002<\/li>\n<li>GLL\uff1a\u5927\u5730\u5750\u6807\u4fe1\u606f\u3002<\/li>\n<li>ZDA\uff1aUTC\u65f6\u95f4\u548c\u65e5\u671f\u4fe1\u606f\u3002<\/li>\n<li>GST\uff1aGPS \u4f2a\u8ddd\u566a\u58f0\u7edf\u8ba1\uff0c\u5305\u62ec\u4e86\u4e09\u7ef4\u5750\u6807\u7684\u6807\u51c6\u504f\u5dee\u4fe1\u606f\u3002<\/li>\n<li>RTCM\uff1a\u7528\u4e8e\u8f85\u52a9RTK\u89e3\u7b97\u7528\u7684\u7f51\u7edc\u57fa\u51c6\u7ad9\u6570\u636e\u3002\u4e0e\u539f\u59cb\u6570\u636e\u4e00\u8d77\uff0c\u7ecf\u8fc7RTK\u7b97\u6cd5\u7ed3\u7b97\u540e\uff0c\u53ef\u4ee5\u4ea7\u51fa\u5398\u7c73\u7ea7\u5b9a\u4f4d\u3002<\/li>\n<\/ul>\n<h6>1.4 NTRIP \u7b80\u8ff0<\/h6>\n<p>RTK \u6280\u672f\u88ab\u8bb8\u591a\u73b0\u4ee3 GNSS \u63a5\u6536\u5668\u91c7\u7528\uff0c\u652f\u6301 RTCM 3.3 \u534f\u8bae\u3002RTCM 3.3\u6d88\u606f\u4e2d\u5305\u542b\u7684\u6570\u636e\u5305\u62ec\u57fa\u7ad9\u8fdb\u884c\u7684\u8f7d\u6ce2\u76f8\u4f4d\u548c\u4f2a\u8ddd\u6d4b\u91cf\u3002RTCM 3.3 \u6570\u636e\u4ece GNSS\u57fa\u7ad9\u4f20\u8f93\u5230 GNSS \u6d41\u52a8\u7ad9\uff0c\u4f7f\u8be5\u63a5\u6536\u5668\u80fd\u591f\u8865\u507f\u5176\u6d4b\u91cf\u8bef\u5dee\uff0c\u4ece\u800c\u63d0\u9ad8\u5176\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n<p>NTRIP \u662f\u4e00\u79cd\u7528\u4e8e\u5b9e\u65f6\u5dee\u5206\u5b9a\u4f4d\u7684\u534f\u8bae\uff0c\u901a\u8fc7 TCP\/IP \u7f51\u7edc\u83b7\u53d6\u6765\u81ea\u57fa\u7ad9\u7684\u5b9e\u65f6\u5dee\u5206\u5b9a\u4f4d\u6570\u636e(\u4e00\u822c\u662f\u4f20\u8f93 RTCM \u6570\u636e)\u4f20\u8f93\u5230 NTRIP \u670d\u52a1\u5668\uff0c\u7528\u6237\u901a\u8fc7\u4e92\u8054\u7f51\u8fde\u63a5\u5230\u8fd9\u4e9b NTRIP \u670d\u52a1\u5668\uff0c\u4e0b\u8f7d\u5b9e\u65f6\u5dee\u5206\u6570\u636e\uff0c\u4f20\u8f93\u7ed9 GPS \u63a5\u6536\u5668\u4ee5\u63d0\u9ad8\u5176\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9288\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP-1024x354.png\" alt=\"\" width=\"625\" height=\"216\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP-1024x354.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP-300x104.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP-768x265.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP-624x215.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/NTRIP.png 1150w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>NTRIP \u7cfb\u7edf\u7531\u4e09\u4e2a\u4e3b\u8981\u8f6f\u4ef6\u7ec4\u4ef6\u7ec4\u6210:caster\u3001server base \u548c client rover\u3002<\/p>\n<ul>\n<li>Ntrip Source \u7528\u4e8e\u751f\u6210 GNSS \u5dee\u5206\u4fee\u6b63\u6570\u636e\uff0c\u5e76\u5c06\u5176\u53d1\u9001\u5230 Ntrip Server\u3002<\/li>\n<li>Ntrip Server \u5c06 GNSS \u5dee\u5206\u6821\u6b63\u6570\u636e\u53d1\u9001\u5230 Ntrip Caster\u3002<\/li>\n<li>Ntrip Caster \u662f\u4e00\u79cd HTTP \u4e92\u8054\u7f51\u670d\u52a1\uff0c\u4f5c\u4e3a\u5dee\u5206\u4fee\u6b63\u6570\u636e\u7684\u4e2d\u5fc3\uff0c\u8d1f\u8d23 GNSS\u5dee\u5206\u4fee\u6b63\u6570\u636e\u7684\u63a5\u6536\u548c\u53d1\u9001\uff0c\u5145\u5f53\u5728 NTRIP \u670d\u52a1\u5668\u548c NTRIP \u5ba2\u6237\u7aef\u4e4b\u95f4\u4f20\u8f93GRSS \u8fde\u63a5\u6570\u636e\u7684\u901a\u4fe1\u7ebf\u8def\u3002<\/li>\n<\/ul>\n<p>\u7528\u6237\u901a\u8fc7Ntrip Client \u767b\u5f55\u4e91\u7aef\u7684 Ntrip Caster \u540e\uff0c\u63a5\u6536 Ntrip Caster\u7684 GNSS \u5dee\u5206\u6539\u6b63\u6570\u636e\u6216 RTK \u5b9a\u4f4d\u8fdb\u884c\u5b9e\u65f6\u6821\u6b63\u3002<\/p>\n<h4>2. G70\u4ea7\u54c1\u53c2\u6570<\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9276\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config.png\" alt=\"\" width=\"766\" height=\"529\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config.png 766w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config-300x207.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config-624x431.png 624w\" sizes=\"(max-width: 766px) 100vw, 766px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9277\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2.png\" alt=\"\" width=\"777\" height=\"645\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2.png 777w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2-300x249.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2-768x638.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-config2-624x518.png 624w\" sizes=\"(max-width: 777px) 100vw, 777px\" \/><\/a><\/p>\n<h4>3. \u4e32\u53e3\u5f15\u811a<\/h4>\n<p>G70 \u6a21\u5757\u5f15\u51fa 12 \u4e2a\u8c03\u8bd5\u5f15\u811a\uff0c\u5176\u4e2d\u4e32\u53e3 2 \u4e3a 232 \u7535\u5e73\u8f93\u5165\u8f93\u51fa\uff0cRXD1\/TXD1 \u4e3a TTL \u7535\u5e73\u8f93\u51fa\u8f93\u51fa\u3002\u8c03\u8bd5\u5f15\u811a\u7ebf\u5e8f\u56fe\u5982\u4e0b\u6240\u793a\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9278\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-1024x537.png\" alt=\"\" width=\"625\" height=\"328\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-1024x537.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-300x157.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-768x403.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-624x327.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface.png 1088w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u914d\u7f6e<\/h1>\n<h4>1. G70 \u6a21\u5757\u521d\u59cb\u5316<\/h4>\n<h6>1.1 \u4e0a\u4f4d\u673a\u5de5\u5177<\/h6>\n<p>\u672c\u6587\u4f7f\u7528u-center\u5bf9G70\u548c4GDTU\u8fdb\u884c\u914d\u7f6e\u3002u-center\u662f\u745e\u58eb u-blox \u516c\u53f8\u5f00\u53d1\u7684\u4e00\u6b3e\u5f3a\u5927\u7684GNSS\u8bc4\u4f30\u548c\u53ef\u89c6\u5316\u5de5\u5177\uff0c\u4e3a\u7cfb\u7528\u6237\u63d0\u4f9b\u4e86\u4e00\u79cd\u5feb\u901f\u3001\u7b80\u5355\u7684\u65b9\u6cd5\u6765\u8fde\u63a5u\u2011blox\u7684GNSS\u6a21\u5757\uff0c\u5bf9\u5176\u8fdb\u884c\u8bc4\u4f30\u3001\u6027\u80fd\u6d4b\u8bd5\u3001\u5f00\u53d1\u548c\u8c03\u8bd5\uff0c\u5e76\u63d0\u4f9b\u4e00\u5957\u7528\u4e8e\u67e5\u770b\u3001\u8bb0\u5f55\u548c\u5206\u6790\u6027\u80fd\u7684\u529f\u80fd\uff0c\u53ef\u4ee5\u901a\u8fc7<a href=\"https:\/\/www.u-blox.com\/en\/product\/u-center\" target=\"_blank\" rel=\"noopener\">\u5b98\u7f51<\/a>\u514d\u8d39\u4e0b\u8f7d\uff0c\u53ea\u80fd\u5728windows\u7535\u8111\u4e0a\u8fd0\u884c\u3002<\/p>\n<p>\u5e38\u89c1\u540d\u8bcd\u542b\u4e49\uff1a<\/p>\n<ul>\n<li>Longitude-\u7ecf\u5ea6<\/li>\n<li>Latitude-\u7eac\u5ea6<\/li>\n<li>Altitude-\u6d77\u62d4\u9ad8\u5ea6<\/li>\n<li>Altitude (msl)-\u57fa\u4e8e\u5e73\u5747\u6d77\u5e73\u9762\u7684\u6d77\u62d4\u9ad8\u5ea6<\/li>\n<li>TTFF-\u9996\u6b21\u5b9a\u4f4d\u65f6\u95f4<\/li>\n<li>FixMode-\u5b9a\u4f4d\u6a21\u5f0f\/\u5b9a\u4f4d\u72b6\u6001<\/li>\n<li>3DAcc-\u4e09\u7ef4\u5b9a\u4f4d\u7cbe\u5ea6<\/li>\n<li>2Dacc-\u4e8c\u7ef4\u5b9a\u4f4d\u7cbe\u5ea6<\/li>\n<li>PDOP-\u4f4d\u7f6e\u7cbe\u5ea6\u56e0\u5b50<\/li>\n<li>HDOP-\u6c34\u5e73\u7cbe\u5ea6\u56e0\u5b50<\/li>\n<li>satellites-\u536b\u661f\u72b6\u6001<\/li>\n<\/ul>\n<h6>1.2 \u8fde\u63a5<\/h6>\n<p>\u7269\u7406\u8fde\u7ebf\uff1a<\/p>\n<ul>\n<li>G70\u4e0e\u8611\u83c7\u5934\u5929\u7ebf\u8fde\u63a5<\/li>\n<li>G70\u901a\u8fc7TypeC\u8f6cUSB\u4e0eWin\u7535\u8111\u8fde\u63a5<\/li>\n<\/ul>\n<p>\u8f6f\u4ef6\u8fde\u63a5<\/p>\n<ul>\n<li>\u6253\u5f00u-center\u8f6f\u4ef6\uff0c\u70b9\u51fb\u5de6\u4e0a\u89d2\u901a\u4fe1\u5de5\u5177\u680f\u4e2d\uff0c\u9009\u62e9GNSS\u6a21\u5757\u7684COM\u7aef\u53e3\uff08\u901a\u8fc7\u63d2\u62d4\u53ef\u4ee5\u786e\u8ba4\u662f\u54ea\u4e2a\uff09<\/li>\n<li>\u7136\u540e\u70b9\u51fb\u53f3\u4fa7\u7b2c\u4e8c\u4e2a\u9009\u9879\uff0c\u9009\u62e9GNSS\u6a21\u5757\u7684\u6ce2\u7279\u7387\uff0c\u9ed8\u8ba4\u4e3a9600\uff0c\u6210\u529f\u8fde\u63a5\u540e\u56fe\u6807\u4f1a\u53d8\u4e3a\u7eff\u2f8a\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-connect.jpeg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9294\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-connect.jpeg\" alt=\"\" width=\"690\" height=\"267\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-connect.jpeg 690w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-connect-300x116.jpeg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-connect-624x241.jpeg 624w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/a><\/p>\n<h6>1.3 \u6a21\u5757\u521d\u59cb\u5316<\/h6>\n<ul>\n<li>\u6253\u5f00MessageViews\u754c\u9762\uff0c\u5de6\u4fa7\u83dc\u5355\u6811\u5f62\u53cc\u51fb\u5c55\u5f00UBX\uff0c\u4f9d\u6b21\u70b9\u51fbUBX-&gt;CFG-&gt;CFG\uff0c\u5728\u663e\u793a\u754c\u9762\u4e2d\u9009\u62e9Revert to default configuration\uff0c\u5728Devices\u533a\u57df\u5168\u9009\uff0c\u70b9\u51fb\u5de6\u4e0b\u89d2\u7684\u3010Send\u3011\u6309\u94ae\u8fdb\u884c\u521d\u59cb\u5316\u3002\u6a21\u5757\u521d\u59cb\u5316\u540e\uff0c\u9ed8\u8ba4\u4e3a\u79fb\u52a8\u7ad9\u914d\u7f6e\u3002<\/li>\n<li>\u70b9\u51fb\u5de5\u5177\u680f\u65ad\u5f00G70\u8fde\u63a5\uff0c\u5e76\u91cd\u65b0\u8fde\u63a5<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9295\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-1024x601.png\" alt=\"\" width=\"625\" height=\"367\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-1024x601.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-300x176.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-768x451.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-1536x902.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset-624x366.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-reset.png 1920w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>1.4 \u8c03\u8bd5<\/h6>\n<ul>\n<li>\u6253\u5f00View-&gt;Docking Windows-&gt;Data \u6216 View-&gt;Text Control \u5373\u53ef\u770b\u5230\u5b9a\u4f4d\u6570\u636e<\/li>\n<li>NMEA\u6d88\u606f\u663e\u793a\u4e3a\u6807\u9898$Gxyyy\uff0c\u5176\u4e2dx\u4ee3\u8868\u536b\u661f\u7cfb\u7edf\uff08P=GPS\u3001SBAS\u3001QZSS\u3001L=\u4f3d\u5229\u7565\u3001B=\u5317\u6597\u3001N=GNSS\u7684\u4efb\u4f55\u7ec4\u5408\uff09\uff0cyyy\u4ee3\u8868\u6d88\u606f\u7c7b\u578b\uff08\u5982ZDA=\u65f6\u95f4\u548c\u65e5\u671f\uff09\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9296\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-1024x604.png\" alt=\"\" width=\"625\" height=\"369\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-1024x604.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-300x177.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-768x453.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-1536x906.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view-624x368.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-text-view.png 1915w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u51b7\u542f\u52a8\u521d\u59cb\u5316\u65f6\u95f420s\u5de6\u53f3\uff0c\u536b\u661f\u4fe1\u53f7\u6709\u906e\u6321\u65f6\u4e5f\u53ef\u80fd\u65e0\u6cd5\u5b9a\u4f4d\uff0c\u770b\u4e0d\u5230\u6570\u636e\u4e0d\u7528\u7740\u6025\uff0c\u53ef\u4ee5\u8bf6\u62ff\u5230\u5ba4\u5916\u770b\u3002<\/p>\n<p>\u6a21\u5757\u72b6\u6001\u6307\u793a\u706f\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9297\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light.png\" alt=\"\" width=\"985\" height=\"396\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light.png 985w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light-300x121.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light-768x309.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-light-624x251.png 624w\" sizes=\"(max-width: 985px) 100vw, 985px\" \/><\/a><\/p>\n<h6>1.5 \u4fee\u6539\u5b9a\u4f4d\u9891\u7387<\/h6>\n<p>G70\u6a21\u5757\u9ed8\u8ba4\u5b9a\u4f4d\u9891\u7387\u4e3a1\uff0c\u652f\u6301\u5b9a\u4f4d\u9891\u7387\u4e3a1-20HZ\uff0c\u4f46\u662f\u6700\u597d\u4e0d\u8981\u8d85\u8fc75HZ\uff0c\u5426\u5219\u4f1a\u5b58\u5728\u4e22\u5305\u60c5\u51b5\u3002<\/p>\n<ul>\n<li>\u4fee\u6539\u6ce2\u7279\u7387\uff0c\u6253\u5f00View-&gt;Messages View-&gt;UBX-&gt;CFG-&gt;RATE \u9875\u9762\u4fee\u6539\uff0c\u5c06Measurement Period \u6539\u4e3a 200ms\uff0c\u5bf9\u5e94\u7684\u9891\u7387\u5c06\u53d8\u4e3a5HZ\u3002\u8bbe\u7f6e\u5b8c\u6210\u70b9\u51fb\u3010Send\u3011\u6309\u94ae\u3002<\/li>\n<li>\u6309\u7167\u540c\u6837\u7684\u6b65\u9aa4\uff0c\u5206\u522b\u9009\u62e9\u754c\u9762\u4e0a\u7b2c\u4e00\u4e2aTimesource\u4e0b\u62c9\u9009\u9879\u76840-4\uff0c\u90fd\u5206\u522bSend\u4e00\u4e0b\u3002<\/li>\n<li>\u5230\u5728Messages-&gt;UBX-&gt;CFG-&gt;CFG\u9875\u9762\uff0c\u9009\u62e9Save current confiuration\uff0c\u70b9\u51fbSend\u4fdd\u5b58\u914d\u7f6e\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9299\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-1024x599.png\" alt=\"\" width=\"625\" height=\"366\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-1024x599.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-300x176.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-768x450.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-1536x899.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ-624x365.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-HZ.png 1920w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>1.6 \u4fee\u6539NMEA\u8bed\u53e5\u4e3a\u9ad8\u7cbe\u5ea6\u8f93\u51fa<\/h6>\n<ul>\n<li>\u70b9\u51fbMessages-&gt;NMEA-&gt;GXGLL\uff0c\u9f20\u6807\u53f3\u952e\u70b9\u51fb GXGLL\uff0c\u8bbe\u7f6e\u3010enable message\u3011\u3002<\/li>\n<li>\u6253\u5f00MessagesView-&gt;UBX-&gt;CFG-&gt;NMEA \u9875\u9762\uff0c\u52fe\u9009\u3010Highprecisionmode\u3011\u540e\uff0c\u70b9\u51fb\u3010Send\u3011\u53d1\u9001\u914d\u7f6e\u3002<\/li>\n<li>\u5230\u5728MessagesView-&gt;UBX-&gt;CFG-&gt;CFG\u9875\u9762\uff0c\u9009\u62e9Save current confiuration\uff0c\u70b9\u51fbSend\u4fdd\u5b58\u914d\u7f6e\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-jd.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9300\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-jd.png\" alt=\"\" width=\"635\" height=\"478\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-jd.png 635w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-jd-300x226.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-set-jd-624x470.png 624w\" sizes=\"(max-width: 635px) 100vw, 635px\" \/><\/a><\/p>\n<h4>2. 4G DTU\u521d\u59cb\u5316<\/h4>\n<p>\u5728PC\u7aef\u8054\u7f51\u7684\u524d\u63d0\u4e0b\uff0c\u4f7f\u7528u-center\u4e0a\u4f4d\u673a\u63a5\u5165RTK\uff0c\u9700\u8981\u5148\u7533\u8bf7\u4e00\u4e2aCORS\u8d26\u53f7\u3002G70\u4f5c\u4e3a\u79fb\u52a8\u7ad9\uff0c\u8fde\u63a5\u5e76\u63a5\u6536\u5343\u5bfb\u4f4d\u7f6e(\u4e2d\u56fd\u5883\u5185\u4f7f\u7528)\u6216\u5176\u5b83\u53c2\u8003\u57fa\u7ad9\u670d\u52a1\u5546\u7684RTCM3\u6570\u636e\uff0c\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u5398\u7c73\u7ea7\u5b9a\u4f4d\u3002<\/p>\n<h6>2.1 \u8d2d\u4e70CORS\u8d26\u53f7<\/h6>\n<p>\u5343\u5bfbCORS\u8d26\u53f7\u662f\u4e00\u6b3e\u7cbe\u5ea6\u5728\u5398\u7c73\u7ea7\u7684\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u670d\u52a1\u4ea7\u54c1\uff0c\u57fa\u4e8e\u53cc\u9891RTK\uff08\u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\uff09\u6280\u672f\u5f00\u53d1\uff0c\u901a\u8fc7\u4e92\u8054\u7f51\u63d0\u4f9b7\u00d724\u5c0f\u65f6\u7684\u9ad8\u53ef\u7528\u64ad\u53d1\u3002\u5343\u5bfbCORS\u8d26\u53f7\u80fd\u591f\u4e3a\u5168\u56fd\u5730\u533a\uff08\u9664\u897f\u90e8\u65e0\u4eba\u533a\u53ca\u53f0\u6e7e\u5730\u533a\uff09\u63d0\u4f9b\u4f4d\u7f6e\u6570\u636e\u670d\u52a1\u3002\u8d2d\u4e70\u5730\u5740\uff1a<a href=\"https:\/\/www.qxwz.com\/market\/qxcors\">\u5343\u5bfbCORS\u8d26\u53f7<\/a>\uff0c\u5355\u4e2a\u8d26\u53f7\uff0c\u5305\u6708400\uff0c\u5305\u5e743600\u3002<\/p>\n<p>\u4ece\u5343\u5bfb\u63a7\u5236\u53f0\u62ff\u5230\u7528\u6237\u540d\u548c\u5bc6\u7801\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9305\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-1024x473.png\" alt=\"\" width=\"625\" height=\"289\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-1024x473.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-300x139.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-768x355.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-1536x710.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user-624x288.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-config-user.png 1747w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u6fc0\u6d3b\u8d26\u53f7\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9307\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-1024x314.png\" alt=\"\" width=\"625\" height=\"192\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-1024x314.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-300x92.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-768x235.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-1536x471.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo-624x191.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-jihuo.png 1859w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u8c03\u6574\u4e3a\u8bbe\u5907\u8fde\u63a5\u540e\u81ea\u52a8\u7ed1\u5b9a\u548c\u6fc0\u6d3b\uff1a\uff08\u6216\u5728\u8d26\u53f7\u64cd\u4f5c\u5217\u627e\u5230\u7ed1\u5b9a\u6309\u94ae\uff0c\u624b\u52a8\u8f93\u5165\u8bbe\u5907SN\u548c\u8bbe\u5907\u7c7b\u578b\u8fdb\u884c\u7ed1\u5b9a\u548c\u6fc0\u6d3b\u3002\u5efa\u8bae\u524d\u671f\u8c03\u8bd5\u6539\u4e3a\u81ea\u52a8\u5373\u53ef\uff09<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9718\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid-1024x701.png\" alt=\"\" width=\"625\" height=\"428\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid-1024x701.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid-300x205.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid-768x526.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid-624x427.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-auto-fid.png 1261w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>2.2 G70\u4e0a\u4f4d\u673a\u8fde\u63a5\u5343\u5bfb\uff08\u9a8c\u8bc1\u7528\uff09<\/h6>\n<ul>\n<li>\u6253\u5f00Receiver&#8211;&gt;NTRIP Client\u5f39\u7a97<\/li>\n<li>\u6839\u636e\u8d2d\u4e70\u7684CORS\u8d26\u53f7\u8f93\u5165\u5730\u5740\u3001\u7aef\u53e3\u53f7\u3001\u8d26\u53f7\u5bc6\u7801\u7b49\u4fe1\u606f<\/li>\n<li>\u70b9\u51fb\u5f39\u7a97\u4e2d\u90e8\u7684Update source table\u6309\u94ae\u5237\u65b0Mountpoint\/\u6e90\/\u6302\u8f7d\u70b9\uff0c\u7136\u540e\u5728 NTPIPmount point \u4e0b\u62c9\u6846\u9009\u62e9AUTO<\/li>\n<li>\u70b9\u51fbOK\u4fdd\u5b58\u6570\u636e\uff0c\u5373\u53ef\u63a5\u5165RTK\u670d\u52a1<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-conf-u.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9306\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-conf-u.png\" alt=\"\" width=\"680\" height=\"635\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-conf-u.png 680w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-conf-u-300x280.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-conf-u-624x583.png 624w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/a><\/p>\n<h6>2.3 \u68c0\u67e5\u8fde\u63a5\u72b6\u6001\uff08\u9a8c\u8bc1\u7528\uff09<\/h6>\n<p>\u6210\u529f\u63a5\u5165RTK\u540e\uff0cu-center\u4e0b\u8fb9\u7684\u83dc\u5355\u680f\u4f1a\u663e\u793aNtrip\u7684\u8fde\u63a5\u72b6\u6001\uff0c\u53f3\u8fb9\u6570\u636e\u680fFixMode\u4f1a\u663e\u793aFixed\uff0c\u4e14\u6a21\u5757\u7684RTK\u706f\u4f1a\u5e38\u4eae\uff0c\u5982\u679c\u662fFloat\u72b6\u6001\u65f6\uff0cRTK\u706f\u4f1a\u95ea\u70c1\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9734\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-1024x599.png\" alt=\"\" width=\"625\" height=\"366\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-1024x599.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-300x175.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-768x449.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-1536x898.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk-624x365.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/g70-rtk.png 1919w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>3. 4G DTU \u8fde\u63a5 G70<\/h4>\n<h6>3.1<span style=\"font-size: 0.857143rem;\">\u00a0<\/span><span style=\"font-size: 0.857143rem;\">\u63d2\u5165SIM\u4e0a\u7f51\u5361<\/span><\/h6>\n<p>\u5c06\u56fe\u793a\u7bad\u5934\u5904\u5f80\u91cc\u6233\uff0c\u53ef\u4ee5\u5f39\u51fa\u6a21\u5757\u7684\u5361\u6258\uff0c\u8be5\u6a21\u5757\u4e3a\u5168\u7f51\u901a4G\uff0c\u63a5\u5165\u80fd\u6b63\u5e38\u8054\u7f51\u7684\u7535<br \/>\n\u8bdd\u5361(\u6807\u51c6SIM\u89c4\u683c\u5c3a\u5bf8)\u540e\u53ef\u6b63\u5e38\u4f7f\u7528\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4gdtu-SIM.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9309\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4gdtu-SIM.png\" alt=\"\" width=\"160\" height=\"151\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5728 DTU \u901a\u7535\u7684\u60c5\u51b5\u4e0b\u4e25\u7981\u63d2\u62d4 SIM \u5361\u3002<\/p>\n<h6>3.2 \u7269\u7406\u8fde\u7ebf<\/h6>\n<p>4G\u6a21\u5757\u4e32\u53e3\u8f6c\u6362\u5668\u7684\u7ebf\u5206\u522b\u63a5\u5165\u6a21\u5757\u7684A+\u3001B+\u7aef\u53e3\uff0c\u53e6\u4e00\u7aefUSB\u53e3\u63a5\u5165\u8c03\u8bd5\u4f7f\u7528\u7684\u7b14\u8bb0\u672c\u3002\u5c064G\u6a21\u5757\u7535\u6e90DC\u5934\u63a5\u51654GDTU\u7684\u63a5\u7ebf\u7aef\u5b50\u4e2d\uff0cDC\u7aef\u63a5\u9002\u914d\u5668\u8fde\u63a5\u7535\u6e90\uff0c\u6b64\u65f64G\u6a21\u5757\u7684\u6307\u793a\u706f\u4f1a\u4eae\u8d77\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9310\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link.png\" alt=\"\" width=\"810\" height=\"301\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link.png 810w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link-300x111.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link-768x285.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-link-624x232.png 624w\" sizes=\"(max-width: 810px) 100vw, 810px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9280\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU.png\" alt=\"\" width=\"955\" height=\"839\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU.png 955w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU-300x264.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU-768x675.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4G-DTU-624x548.png 624w\" sizes=\"(max-width: 955px) 100vw, 955px\" \/><\/a><\/p>\n<p><span style=\"color: #ff0000;\">\u914d\u7f6e4GDTU\u65f6\uff0c\u8bf7\u65ad\u5f00\u4e0eG70\u8fde\u63a5<\/span>\u3002<\/p>\n<h6>3.3 \u914d\u7f6e4GDTU\u8fde\u63a5\u5343\u5bfb\uff08\u6b63\u5f0f\u7528\u6cd5\uff09<\/h6>\n<ul>\n<li>\u6253\u5f004G\u7ec8\u7aefNtrip\u5343\u5bfb-\u914d\u7f6e\u8c03\u8bd5\u5de5\u5177\u3002\u9009\u62e9COM\u4e32\u53e3\u53f7\uff0c\u6ce2\u7279\u7387\u9ed8\u8ba4\u4e3a115200\uff0c\u70b9\u51fb\u3010\u6253\u5f00\u4e32\u53e3\u3011\u3002<\/li>\n<li>\u914d\u7f6eCORS\u76f8\u5173\u4fe1\u606f\uff1a\u586b\u5199Nrtip\u670d\u52a1\u5730\u5740\u3001\u7aef\u53e3\u53f7\u3001Nrtip\u7528\u6237\u540d\u3001\u5bc6\u7801\u548c\u6302\u8f7d\u70b9\uff0c\u70b9\u51fb\u3010\u8bbe\u7f6e\u3011\u6309\u94ae\u4fdd\u5b58\u53c2\u6570\uff0c\u70b9\u51fb\u3010\u67e5\u8be2\u3011\u6309\u94ae\u786e\u8ba4\u5199\u5165\u6210\u529f\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9709\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834-1024x773.png\" alt=\"\" width=\"625\" height=\"472\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834-1024x773.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834-300x226.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834-768x580.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834-624x471.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-19-115834.png 1289w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u6210\u529f\u63a5\u5165RTK\u540e\uff0c\u5728\u53f3\u4e0b\u89d2\u4e00\u680f\u4f1a\u8fd4\u56de\u72b6\u6001\u4fe1\u606f\uff1aSTATUS:6001\uff0c\u8868\u793a\u914d\u7f6e\u6210\u529f\u3002\u4e5f\u53ef\u4ee5\u70b9\u51fb\u53f3\u4e0a\u89d2\u3010\u67e5\u5728\u7ebf\u72b6\u6001\u3011\u83b7\u53d6\u5f53\u524d4G\u901a\u4fe1\u6a21\u5757\u7684\u670d\u52a1\u72b6\u6001\u3002\u6b64\u65f64G\u901a\u4fe1\u6a21\u5757\u7684\u4eae\u706f\u60c5\u51b5\u4e3a\uff1aNET\u3001SVR\u3001DATA\u706f\u95ea\u70c1\u3002\uff08<span style=\"color: #ff0000;\">\u5b9e\u9645\u81ea\u6d4b\u662fNET\u95ea\u70c1\uff0cSVR\u5e38\u4eae\u3001DATA\u706f\u4e0d\u4eae\uff0cDATA\u706f\u8981\u5230\u540e\u8fb9\u8fde\u4e0aG70\u540e\u624d\u4f1a\u4eae<\/span>\uff09<\/p>\n<p>*\u6ce8\u610f\uff1a<\/p>\n<ul>\n<li>\u5982\u679c\u6ca1\u63d2SIM\u5361\uff0c\u8bbe\u7f6e\u65f6\u4f1a\u62a5sim read error\u62a5\u8b66\uff0c\u7f51\u4e0a\u4e70\u4e2an-sim\u5361\u6258\u63d2\u4e0a\u624b\u673a\u5361\u5373\u53ef\u6b63\u5e38\u3002<\/li>\n<li>\u8d26\u6237\u4e00\u65e6\u8bbe\u7f6e\u540e\uff0c\u4e0d\u8981\u5728\u5176\u4ed6\u8bbe\u5907\u4e0a\u767b\u9646\uff0c\u4f1a\u5bfc\u81f4\u5f53\u524d\u8bbe\u5907\u79bb\u7ebf\uff0c\u4e14\u4e0d\u4f1a\u81ea\u52a8\u6062\u590d\u5728\u7ebf\u72b6\u6001\uff0c\u9700\u8981\u91cd\u65b0\u8fde\u7ebf\u8bbe\u7f6e\u624d\u53ef\u4ee5\u3002<\/li>\n<\/ul>\n<h6>3.4 \u4fee\u6539G70\u914d\u7f6e\u7528\u4e8e\u8fde\u63a54GDTU<\/h6>\n<ul>\n<li>\u62d4\u63894GDTU\uff0c\u91cd\u65b0\u7528TypeC-USB\u7ebf\u8fde\u63a5G70\u548cPC\u3002<\/li>\n<li>\u6253\u5f00U-center\u4e0a\u4f4d\u673a\u3002<\/li>\n<li>\u6253\u5f00Messages-&gt;UBX-&gt;CFG-&gt;PRT\u9875\u9762\uff0c\u7528\u4e8e\u914d\u7f6e\u4e32\u53e3\u8f93\u51fa\u3002<\/li>\n<li>\u5728Target \u4e0b\u62c9\u9009\u9879\u9009\u4e2d 2-UART2\uff0c\u8bbe\u7f6e\u4e3a5-RTCM3\u683c\u5f0f\u8f93\u5165\uff0c1-NMEA\u8f93\u51fa\uff0c\u6ce2\u7279\u7387\u4e3a115200\u3002\u5982\u4e0b\u56fe\u6240\u793a\u3002\u70b9\u51fb\u3010Send\u3011\u53d1\u9001\u914d\u7f6e\u3002<\/li>\n<li>Messages-&gt;UBX-&gt;CFG-&gt;CFG\u9875\u9762\uff0c\u9009\u62e9Save current confiuration\uff0c\u70b9\u51fbSend\u4fdd\u5b58\u914d\u7f6e\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-link-4GDTU-set.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9312\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-link-4GDTU-set.png\" alt=\"\" width=\"536\" height=\"382\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-link-4GDTU-set.png 536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-link-4GDTU-set-300x214.png 300w\" sizes=\"(max-width: 536px) 100vw, 536px\" \/><\/a><\/p>\n<h6>3.5 \u8fde\u63a5G70\u548c4GDTU<\/h6>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9279\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU.png\" alt=\"\" width=\"910\" height=\"610\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU.png 910w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU-300x201.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU-768x515.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G704GDTU-624x418.png 624w\" sizes=\"(max-width: 910px) 100vw, 910px\" \/><\/a><\/p>\n<p>G70\u4e0e4GDTU\u7684\u63a5\u7ebf\u7aef\u53e3\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-G70.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9283\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-G70.png\" alt=\"\" width=\"542\" height=\"272\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-G70.png 542w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/4GDTU-G70-300x151.png 300w\" sizes=\"(max-width: 542px) 100vw, 542px\" \/><\/a><\/p>\n<p>\u5bf9\u7167\u4e0b\u56fe\uff0c\u53ef\u4ee5\u770b\u5230G70\u7684232RX\u3001232TX\u3001GND\u5bf9\u5e94\u7684\u7ebf\u675f\u4e3a\u68d5\u8272\u3001\u6a59\u8272\u3001\u7ea2\u8272\uff0c\u63a5\u52304G DTU\u7684\u5bf9\u5e94TXD\u3001RXD\u3001GND\u53e3\u4e0a\u5373\u53ef\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9278\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-1024x537.png\" alt=\"\" width=\"625\" height=\"328\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-1024x537.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-300x157.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-768x403.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface-624x327.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/G70-interface.png 1088w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6><\/h6>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001\u9a8c\u8bc1<\/h1>\n<h4>1. ROS1 SDK<\/h4>\n<h6>1.1 \u51c6\u5907\u5de5\u4f5c<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u8bbe\u5907\u8bc6\u522b\r\nlsusb |grep GNSS\r\n    Bus 001 Device 005: ID 1546:01a9 U-Blox AG u-blox GNSS receiver\r\n\r\n#  \u914d\u7f6e\u522b\u540d\r\nsudo echo  'KERNEL==\"ttyACM*\", ATTRS{idVendor}==\"1546\", ATTRS{idProduct}==\"01a9\", MODE:=\"0777\", GROUP:=\"dialout\", SYMLINK+=\"wheeltec_gnss\"' &gt;\/etc\/udev\/rules.d\/wheeltec_gnss.rules\r\n\r\nsudo service udev reload\r\nsleep 2\r\nsudo service udev restart\r\n\r\n# \u68c0\u67e5\uff08\u9700\u91cd\u65b0\u63d2\u62d4G70\u624d\u80fd\u751f\u6548\uff09\r\nll \/dev\/wheeltec_gnss \r\n    lrwxrwxrwx 1 root root 7 Nov 19 14:28 \/dev\/wheeltec_gnss -&gt; ttyACM0\r\n\r\n# \u4f9d\u8d56\r\nsudo apt install -y ros-noetic-nmea-msgs ros-noetic-rtcm-msgs\r\n<\/code><\/pre>\n<h6>1.2 NMEA183\u683c\u5f0f\u89e3\u6790\uff08\u63a8\u8350\uff09<\/h6>\n<p>\u9700\u8981\u8bbe\u7f6e\u6a21\u5757\u8f93\u51fa NMEA-&gt;GXGLL \u6d88\u606f\u6570\u636e\u3002\u5219\u70b9\u51fbMessages-&gt;NMEA-&gt;GXGLL\uff0c\u9f20\u6807\u53f3\u952e\u70b9\u51fb GXGLL\uff0c\u8bbe\u7f6e\u3010enable message\u3011\u3002<br \/>\n\u8bbe\u7f6e\u5b8c\u6210\u9700\u8981\u5728 Messages-&gt;UBX-&gt;CFG-&gt;CFG \u9875\u9762\u4fdd\u5b58\u914d\u7f6e\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4e0b\u8f7d\u6e90\u7801\r\ncd ~\/catkin_g70\/src\r\ngit clone git@github.com:yanjingang\/g70_gps_driver.git -b <span style=\"color: #ff0000;\">ros1-noetic-nmea<\/span>\r\nchmod +x .\/g70_gps_driver\/wheeltec_gps_driver\/scripts\/*\r\n\r\n# \u7f16\u8bd1\r\ncd ~\/catkin_g70\r\ncatkin_make\r\n# python -m pip install --upgrade pip\r\n# python -m pip install pandas\r\n\r\n# \u8fd0\u884c\r\nsource devel\/setup.bash\r\nroslaunch wheeltec_gps_driver wheeltec_nmea_driver.launch\r\n\r\n# \u539f\u59cbGGA\u6570\u636e\u8f93\u51fa\r\nrostopic echo \/nmea\r\n    $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47\r\n# RTK\u5dee\u5206\u540e\u7684\u6570\u636e\u8f93\u51fa\r\nrostopic info \/fix\r\n    Type: sensor_msgs\/NavSatFix\r\nrostopic hz \/fix\r\n    topic rate min_delta max_delta std_dev window\r\n    \/fix 5.0 0.1954 0.2051 0.003199 16\r\nrostopic echo \/fix\r\n    header: \r\n        seq: 23\r\n        stamp: \r\n            secs: 1732022598\r\n            nsecs: 676532506\r\n    frame_id: \"navsat_link\"\r\n    status: \r\n        status: 2\r\n        service: 1\r\n    latitude: 40.04855052166667\r\n    longitude: 116.26010044166667\r\n    altitude: 44.197\r\n    position_covariance: [11.289599999999998, 0.0, 0.0, 0.0, 11.289599999999998, 0.0, 0.0, 0.0, 180.63359999999997]\r\n    position_covariance_type: 1\r\n<\/code><\/pre>\n<p>sensor_msgs\/NavSatFix \u6570\u636e\u683c\u5f0f\u5b9a\u4e49\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">std_msgs\/Header header  # \u6807\u51c6header\u5934\r\n  uint32 seq\r\n  time stamp\r\n  string frame_id\r\nsensor_msgs\/NavSatStatus status   # GPS\u4fe1\u53f7\u8d28\u91cf\u4fe1\u606f\r\n  int8 status     # \u662f\u5426\u8f93\u51fa\u589e\u5f3a\u7684\u5b9a\u4f4d \u53d6\u51b3\u4e8e\u5b9a\u4f4d\u7c7b\u578b\u548c\u6700\u540e\u4e00\u6b21\u6536\u5230\u5dee\u5206\u6821\u6b63\u7684\u65f6\u95f4\uff08\u5f53\u72b6\u6001 &gt;= 0 STATUS_FIX\u65f6\uff0c\u6b64\u5b9a\u4f4d\u624d\u6709\u6548\uff1b-1 NO_FIX\uff0c0 FIX\uff08\u6807\u51c6GPS\u5b9a\u4f4d\uff09\uff0c1 SBAS_FIX\uff08\u661f\u57fa\u589e\u5f3a\u7cfb\u7edf\u4fee\u590d\uff09\uff0c2 GBAS_FIX\uff08\u5730\u57fa\u589e\u5f3a\u7cfb\u7edf\u4fee\u590d\uff09\uff09\r\n  uint16 service  # \u63a5\u6536\u673a\u4f7f\u7528\u4e86\u54ea\u79cd\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\u4fe1\u53f7\uff081 GPS\uff0c2 GLONASS\uff0c4 \u5317\u6597\uff0c8 \u4f3d\u5229\u7565\uff09\r\nfloat64 latitude     # \u4ee5\u5ea6\u4e3a\u5355\u4f4d\u7684\u6d6e\u70b9\u6570\uff0c\u8868\u793a\u7eac\u5ea6\r\nfloat64 longitude    # \u4ee5\u5ea6\u4e3a\u5355\u4f4d\u7684\u6d6e\u70b9\u6570\uff0c\u8868\u793a\u7ecf\u5ea6\r\nfloat64 altitude     # \u4ee5\u7c73\u4e3a\u5355\u4f4d\u7684\u6d6e\u70b9\u6570\uff0c\u8868\u793a\u76f8\u5bf9\u4e8e\u6d77\u5e73\u9762\u7684\u9ad8\u5ea6\r\nfloat64[9] position_covariance   # \u4ee5\u534f\u65b9\u5dee\u77e9\u9635\u8868\u793a\u7684\u4f4d\u7f6e\u4e0d\u786e\u5b9a\u6027\u3002\u662f\u4e00\u4e2a\u957f\u5ea6\u4e3a9\u7684\u4e00\u7ef4\u6570\u7ec4\uff0c\u6309\u7167 [covariance_xx, covariance_yy, covariance_zz, covariance_xy, covariance_xz, covariance_yz, covariance_roll, covariance_pitch, covariance_yaw] \u7684\u987a\u5e8f\u6392\u5217\u3002(\u534f\u65b9\u5dee\u7684\u5f00\u5e73\u65b9\u662f\u6570\u636e\u6ce2\u52a8\u7684\u8303\u56f4)\r\nuint8 position_covariance_type   # \u8868\u793a position_covariance \u4e2d\u534f\u65b9\u5dee\u7684\u7c7b\u578b<\/code><\/pre>\n<h6>1.3 UBLOX\u683c\u5f0f\u89e3\u6790\uff08\u4e0d\u63a8\u8350\uff09<\/h6>\n<p>\u9700\u8981\u8bbe\u7f6e\u6a21\u5757\u8f93\u51fa UBX-&gt;RXM-&gt;RAWX \u6d88\u606f\u6570\u636e\u3002\u70b9\u51fbMessages-&gt;UBX-&gt;RXM-&gt;RAWX\uff0c\u9f20\u6807\u53f3\u952e\u70b9\u51fb RAWX\uff0c\u8bbe\u7f6e\u3010enable message\u3011\u3002<\/p>\n<p>\u8bbe\u7f6e\u5b8c\u6210\u9700\u8981\u5728 Messages-&gt;UBX-&gt;CFG-&gt;CFG \u9875\u9762\u4fdd\u5b58\u914d\u7f6e\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u4e0b\u8f7d\u6e90\u7801\r\ncd ~\/catkin_g70\/src\r\ngit clone git@github.com:yanjingang\/g70_gps_driver.git -b <span style=\"color: #ff0000;\">ros1-noetic-ublox<\/span>\r\n\r\n# \u7f16\u8bd1\r\ncd ~\/catkin_g70\r\ncatkin_make\r\n\r\n# \u8fd0\u884c\r\nsource devel\/setup.bash\r\nroslaunch wheeltec_gps_driver wheeltec_ublox_driver.launch\r\n\r\n# \u67e5\u770b\u6570\u636e\u8f93\u51fa\r\nrostopic info \/ublox_gps_node\/fix\r\n    Type: sensor_msgs\/NavSatFix\r\nrostopic hz \/ublox_gps_node\/fix\r\n    topic rate min_delta max_delta std_dev window\r\n    \/ublox_gps_node\/fix 4.998 0.1969 0.2041 0.002649 5 \r\nrostopic echo \/ublox_gps_node\/fix\r\n    header: \r\n        seq: 3894\r\n        stamp: \r\n            secs: 1731999364\r\n            nsecs: 405819267\r\n    frame_id: \"navsat_link\"\r\n    status: \r\n        status: -1\r\n        service: 1\r\n    latitude: 0.0     # \u5ba4\u5185\u4e3a0\uff0c\u5230\u5ba4\u5916\u5c31\u597d\u4e86\r\n    longitude: 0.0\r\n    altitude: 0.0\r\n    position_covariance: [18446744065119.617, 0.0, 0.0, 0.0, 18446744065119.617, 0.0, 0.0, 0.0, 14063604981705.541]\r\n    position_covariance_type: 2\r\n<\/code><\/pre>\n<h4>2. RVIZ\u4e2d\u8bb0\u5f55\u8f68\u8ff9<\/h4>\n<p>\u5c06 GPS \u7684\u4f4d\u7f6e\u6570\u636e\u53ef\u89c6\u5316\uff0c\u9700\u8981\u8fdb\u884c\u5750\u6807\u7cfb\u8f6c\u6362\uff0c\u5c06 lla \u6570\u636e\u4ece\u7ecf\u7eac\u5ea6WGS-84 \u5750\u6807\u8f6c\u6362\u5230\u771f\u5b9e\u4e16\u754c xyz \u5750\u6807\u7cfb\u4e0b\uff0c\u4ece\u800c\u901a\u8fc7 rviz \u663e\u793a\u8def\u5f84\uff0c\u6a21\u62df\u51faGPS \u7684\u8f68\u8ff9\u3002\u901a\u8fc7 rviz \u53ef\u89c6\u5316\u63cf\u7ed8 gps \u8f68\u8ff9\u56fe\uff0c\u8fd0\u884c\u6307\u4ee4\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">#\u4f7f\u7528 nmea \u534f\u8bae\u89e3\u6790\u65f6\u542f\u52a8\r\nroslaunch wheeltec_gps_driver nmea_gps_path.launch\r\n#\u4f7f\u7528 ublox \u534f\u8bae\u89e3\u6790\u65f6\u542f\u52a8\r\nroslaunch wheeltec_gps_driver ublox_gps_path.launch<\/code><\/pre>\n<p>nmea_gps_path.launch \u6587\u4ef6\u4f7f\u7528 nmea \u534f\u8bae\u542f\u52a8 nmea_serial_driver_node \u8282\u70b9\u89e3\u6790 GPS \u6570\u636e\uff0c\u83b7\u5f97\u7ecf\u7eac\u5ea6\u4fe1\u606f\u3002<\/p>\n<p>ublox_gps_path.launch \u6587\u4ef6\u4f7f\u7528 ublox \u534f\u8bae\u542f\u52a8 ublox_gps \u8282\u70b9\u89e3\u6790 GPS \u6570\u636e\u83b7\u5f97\u7ecf\u7eac\u5ea6\u4fe1\u606f\u3002<br \/>\ngps_path_node \u8282\u70b9\u5b9e\u73b0 WGS-84 \u5750\u6807\u8f6c\u6362\u5230\u771f\u5b9e\u4e16\u754c xyz \u5750\u6807\u7cfb\u7684\u529f\u80fd\uff0c\u6e90\u7801\u5728 src\/gps_path.cpp \u8def\u5f84\u4e0b\u3002\u5176\u4e2d x, y, z \u5750\u6807\u662f\u57fa\u4e8e\u521d\u59cb GPS \u4f4d\u7f6e(init_pose) \u76f8\u5bf9\u4e8e\u5f53\u524d GPS \u4f4d\u7f6e\u7684\u5dee\u5f02\u8ba1\u7b97\u51fa\u6765\u7684\u3002x \u548c y \u662f\u5728\u5730\u7403\u8868\u9762\u5e73\u9762\u4e0a\u7684\u4f4d\u79fb\uff0cz \u662f\u6d77\u62d4\u9ad8\u5ea6\u7684\u5dee\u5f02\u3002<\/p>\n<p>\u5f53\u4f7f\u7528\u64adbag\u5305\u65b9\u5f0f\u65f6\uff0c\u53ef\u4ee5\u5355\u72ec\u53ea\u542f\u52a8\u8f68\u8ff9\u8f6c\u6362\u8282\u70b9\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8gps\u8f68\u8ff9\u53ef\u89c6\u5316\u8282\u70b9\r\nroslaunch wheeltec_gps_driver gps_path.launch gps_topic:=\/gps\/fix\r\n# \u5f00\u59cb\u64ad\u5305\/gps\/fix\u6570\u636e\r\nrosbag play autoware-20241124082629.bag -r10<\/code><\/pre>\n<p>\u5173\u4e8e rviz \u4e2d\u663e\u793a\u7684\u5750\u6807\u7cfb\u89e3\u91ca\u5982\u4e0b\uff1a<\/p>\n<ul>\n<li>\u539f\u70b9\uff1a\u5728\u7b2c\u4e00\u6b21\u63a5\u6536\u5230 GPS \u6570\u636e\u65f6\u7684\u5730\u7406\u4f4d\u7f6e\u3002<\/li>\n<li>x \u8f74\uff1a\u6cbf\u7740\u7eac\u5ea6\u7684\u53d8\u5316\u65b9\u5411\uff08\u5357\u5317\u65b9\u5411\uff09\u3002<\/li>\n<li>y \u8f74\uff1a\u6cbf\u7740\u7ecf\u5ea6\u7684\u53d8\u5316\u65b9\u5411\uff08\u4e1c\u897f\u65b9\u5411\uff09\u3002<\/li>\n<li>z \u8f74\uff1a\u8868\u793a\u9ad8\u5ea6\u53d8\u5316\uff08\u6d77\u62d4\uff09\u3002<\/li>\n<\/ul>\n<p>\u5728 rviz \u5b9e\u73b0 GPS \u8f68\u8ff9\u53ef\u89c6\u5316\u6548\u679c\u5982\u56fe\u6240\u793a\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9861\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-1024x582.png\" alt=\"\" width=\"625\" height=\"355\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-1024x582.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-300x170.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-768x436.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-1536x872.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path-624x354.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/gps-path.png 1849w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>\u56db\u3001\u5176\u4ed6<\/h1>\n<h4>1. \u5343\u5bfb\u5dee\u5206\u72b6\u6001<\/h4>\n<p>\u5982\u679c\u5dee\u5206\u6570\u636e\u6709\u5f02\u5e38\u53ef\u4ee5\u901a\u8fc7\u5343\u5bfb\u5dee\u5206\u63a7\u5236\u53f0\u5de6\u4e0a\u89d2\u7684\u201c\u6392\u969c\u5de5\u5177\u201d\uff0c\u8f93\u5165\u5dee\u5206\u8d26\u53f7\uff0c\u67e5\u8be2\u5de5\u4f5c\u60c5\u51b5\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9760\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-1024x525.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-1024x525.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-1536x787.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/qianxun-status-rtk.png 1830w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>2. \u65f6\u949f\u540c\u6b65<\/h4>\n<p>\u4e4b\u524d\u7528\u7684Lidar\/IMU\u4f7f\u7528\u7684\u65f6\u95f4\u6233\u4e3a\u7cfb\u7edf\u65f6\u95f4\uff0c\u800cG70\u6570\u636e\u4f7f\u7528GPS\u65f6\u95f4\u7cfb\u7edf\uff0c\u56e0\u6b64\u5728\u8054\u5408\u4f7f\u7528\u524d\u9700\u8981\u5148\u505a\u65f6\u95f4\u540c\u6b65\u3002<\/p>\n<p>\u7b80\u6613\u65b9\u6cd5\uff0c<span style=\"font-size: 1rem;\">\u8fd0\u884c\u4ee5\u4e0b\u6307\u4ee4\u540c\u6b65\u7cfb\u7edf\u65f6\u95f4\u5230\u7f51\u7edc\u65f6\u95f4\u670d\u52a1\u5668\uff1a<\/span><\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">sudo timedatectl set-ntp true<\/code><\/pre>\n<p>\u5b9e\u9645\u4e0a\u901a\u8fc7ntp\u540c\u6b65\u7684\u65f6\u95f4\u4e0egps\u65f6\u95f4\u662f\u5b58\u5728gap\u7684\uff0c\u53ef\u4ee5\u4f7f\u7528gps\u65f6\u95f4\u6765\u540c\u6b65\u7cfb\u7edf\u65f6\u95f4\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e94\u3001\u603b\u7ed3<\/h1>\n<p>\u597d\u4e86\uff0c\u524d\u4e9b\u5929\u5fd9\u7740LIO-SAM\u548cNDT\u5efa\u56fe\uff0cG70\u62d6\u62d6\u62c9\u62c9\u4e86\u597d\u4e9b\u5929\uff0c\u90fd\u5feb\u843d\u7070\u4e86\uff0c\u4eca\u5929\u603b\u7b97\u662f\u62bd\u7a7a\u8dd1\u8d77\u6765\u4e86\uff0c\u4e0b\u4e00\u6b21\uff0c\u5c31\u5e26\u5927\u5bb6\u4e00\u8d77\u628aRTK\u878d\u5165\u5230\u5efa\u56fe\u548c\u5b9a\u4f4d\u5bfc\u822a\u4e2d\uff08Lidar+IMU+GNSS\uff09\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/549098527\">\u7701CORS\u3001\u5343\u5bfbCORS\uff08\u5168\u56fdcors\uff09\u3001\u79fb\u52a8CORS\u8d26\u53f7\u7684\u533a\u522b\uff0c\u5982\u4f55\u9009\u62e9\uff1f &#8211; \u77e5\u4e4e<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/working24hours\/article\/details\/88323465\" target=\"_blank\" rel=\"noopener\">Ntrip\u534f\u8bae\u8bbf\u95ee\u5343\u5bfb\u4f4d\u7f6e\u670d\u52a1<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_38429958\/article\/details\/135639678\" target=\"_blank\" rel=\"noopener\">sensor_msgs\/NavSatFix \u6d88\u606f\u7c7b\u578b\u8bf4\u660e<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/WHTNN\/article\/details\/146535499\" target=\"_blank\" rel=\"noopener\">NTRIP \u534f\u8bae\u683c\u5f0f\u53ca\u5b9e\u73b0\u8be6\u89e3<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/hanford\/article\/details\/53025771\" target=\"_blank\" rel=\"noopener\">Ntrip\u901a\u8baf\u534f\u8bae1.0<\/a><\/p>\n<p><a href=\"https:\/\/www.cnblogs.com\/88223100\/p\/NMEA-0183.html\" target=\"_blank\" rel=\"noopener\">GPS NMEA-0183\u6807\u51c6\u8be6\u89e3<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4eca\u5929\u65b0\u5230\u4e00\u4e2aG70 RTK\u5b9a\u4f4d\u6a21\u5757\uff0c\u5b83\u652f\u6301\u591a\u79cd\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff0c\u5305\u62ec\u4e2d\u56fdBDS\u5317\u6597\uff0c\u7f8e\u56fdGPS\uff0c\u4fc4\u7f57\u65afGLONAS [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1404,1005,1403,1293],"tags":[1406,1408,968,1405,94,1407],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9273"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=9273"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9273\/revisions"}],"predecessor-version":[{"id":10582,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9273\/revisions\/10582"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=9273"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=9273"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=9273"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}