@mboland wrote:
I have some questions presented to me that I cannot answer adequately and as they relate to the RTK accuracy that we are striving for I thought it appropriate to ask here.
Some prelim analysis on Mission Planner/Pixhawk system
1) Septentrio logs and sends at 10 Hz – Mission Planner logs at 4 hz. Even though it records 8 records per second they are doubles (repeating coords). Does Mission Planner actually do 10Hrz?
Mission Planner Log
image005.jpg2) Mission Planner only records cords to 7 decimal places. This is only accurate to about 1.5cm. Need to record Degrees to 9 decimal places if it wants to be survey grade and RTK able.
3) There is an offset being introduced in Mission Planner to the coordinates in an easterly direction by about 20cm. This needs to be fixed as not survey grade or RTK useable for centimetre accuracy. (see Pic)Question! if we have a super duper GNSS that does multipath checking and Ionosphere attenuation corrections with its own well developed EKF filters that can detect whether or not the gps can supply RTK, Float, dGPS to GPS on no positional at all. Wy can’t we just tell mission planner that what is getting is as good as it gets and all it needs to do is monitor the position type and is loss of GPS all together then check for the other GPS units (triple redundant). Main GNSS is survey grade Septentrio. This makes sense to me why try to reinvent the wheel when someones already built one to works on a Ferrari?
As more RTK systems are coming onto the market this has raised some pertinent issues.
Working towards sub 1cm accuracy is impossible on Ardupilot/Mission Planner is it only records to 7 decimal places.
Does it?
Can we get 9 decimal places from Mission Planner?
Or is it an Ardupilot short coming?
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