OpenRTK330LI Reference Application Specification

1.0 Introduction

The Aceinna OpenRTK330LI module integrates a commercial multi-constellation, multi-frequency Global Navigation Satellite System (GNSS) chipset (supports GPS, GALILEO, GLONASS and Beidou), a triple-redundant 6-axis (3-axis accelerometer and 3-axis gyro) MEMS Inertial Measurement Unit (IMU), and a ST M4 MCU as the processor. OpenRTK330LI module is targeted for commecial applicaiton for the mass market that requires a reliable, high-precision and yet cost effective GNSS/INS integrated positioning solution.

  • 100 Hz GNSS/INS integrated position, velocity and attitude solution
  • Integrated tripple redundant IMU (OpenIMU330)
  • Integrated multi-frequency GNSS chipset
  • 180MHz STM32 M4 CPU with FPU
  • UART / SPI / CAN / Ethernet Interfaces
  • Sensors Update Rate to 800Hz
  • GPS (L1/L2 or L1/L5), GLONASS (L1/L2), GALILEO (E1/E5), Beidou (B1I/B2I),QZSS (L1), and SBAS
  • RTK/PPP algorithms on-board for up to centimetre accuracy

2.0 Detailed specifications:

UART PORTS

  • Debug UART
  • Default Baud Rate: 460.8kb/s
  • Default Message: gga and rtk algorithm time
  • USER UART
  • Default Baud Rate: 460.8kb/s
  • Default User Message: e1 packet, output rate 100Hz, including scaled Lat/Long, Roll, Pitch, Heading, and Angular Rate
  • Default Map Message: pos packet(‘pS’), snr packet(‘sR’) and skyview packet(‘sK’), output rate 10Hz
  • Input User Messages: ‘pG’ - ping, ‘gV’ - version, ‘gA’ - get all params, ‘gP’ - get a param, ‘sC’ - save current configuration permanently, ‘uP’- update param. Params include Baud Rate, Packet Type, Packet Rate, Accel LPF, Rate LPF, and Orientation
  • GNSS UART
  • Update GNSS chipset firmware
  • Default Baud Rate: 460.8kb/s
  • Default Message: rtcm3, 10Hz
  • ESP32 UART
  • Update bluetooth firmware
  • Default Baud Rate: 460.8kb/s
  • Default Message: Bluetooth Debug

SPI PORT

  • TBD

CAN PORT

  • TBD

Bluetooth and Ethernet mode

The OpenRTK300LI can be configured in a number of ways for communication with NTRIP server. There are up to bluetooth mode and ethernet mode.

Bluetooth mode

  • OpenRTK330LI acts as NTRIP client connects with NTRIP server via Android smartphone (with 4G) Bluetooth connectivity (with Aceinna RTKTool App installed) to fetch GNSS RTK/PPP correction data stream
  • Default bluetooth device name “OpenRTK_0001” shows on Android smartphone, which can be changed through installed Aceinna RTKTool App
  • Configure NTRIP server settings on Anroid smartphone in the provided Aceinna RTKTool App

Ethernet mode

  • Plug in a RJ45 cable from a local network to OpenRTK330LI Ethernet port
  • OpenRTK330LI acts as NTRIP client connects with NTRIP server via host (e.g. Desktop) to fetch GNSS RTK/PPP correction data stream
  • DHCP IP address is used as default, if no success, manually setup a static IP: ip = 192.168.1.110, netmask = 255.255.255.0, gateway = 192.168.1.1
  • The embedded webserver address is “http://opentrk”