Gravity: GNSS-RTK High Precision Positioning Kit-EU

1. Getting StartedNew

介绍GNSS定位基础与GPS/BDS/GLONASS系统，说明RTK实时动态定位的数据传输流程，解析NMEA 0183 GGA语句各字段含义。

2. Example Code for Arduino-Reading Data via UART

Tutorial explains Arduino UNO UART GNSS RTK wiring, I2C baud rate configuration, and UART NMEA data reading. Includes sample code to get latitude, longitude, RTK fix status via UART using an RTK LoRa library.

3. Example Code for Arduino-Reading NMEA Data via I2C Protocol

Read NMEA data from the GNSS-RTK kit using the I2C protocol with Arduino IDE.

4. Example Code for Raspberry Pi-UART Tutorial

Read GNSS data from the GNSS-RTK kit using the UART protocol with Raspberry Pi.

5. Example Code for Raspberry Pi-I2C Tutorial

Read GNSS data from the GNSS-RTK kit using the I2C protocol with Raspberry Pi.

Reference

文档聚焦GNSS module API，涵盖getUTC/getDate时间日期接口、getLat/getLon经纬度解析、getAlt/getHdop精度信息、差分GPS参数，以及setModule切换4G/Lora、波特率配置与getGnssMessage数据获取

1. Specification

1.1 Base Station

Parameter	Details
Power Supply	Type-C Terminal: 5~10V
GNSS Antenna Interface	SMA
Reception Bands	GPS/QZSS: L1 C/A, L5 GLONASS: L1 Galileo: E1, E5a BDS: B1I, B2a
Default Constellations	GPS + GLONASS + Galileo + BDS + QZSS
Concurrent Constellations	4 + QGNSS
Function	Base station
Sensitivity	Acquisition: -147 dBm Tracking: -165 dBm Reacquisition: -159 dBm
Dynamic Performance	Max Altitude: 10000 m Max Velocity: 500 m/s Max Acceleration: 4g
Raw Data Update Rate	1 Hz
Protocol	NMEA 0183 / RTCM 3.x

1.2 Mobile Station (RTK Mobile)

Parameter	Details
Operating Voltage	3.3V~5V
Output Signal	I2C/UART
Antenna Interface	SMA
Reception Bands	GPS/QZSS: L1 C/A, L5 GLONASS: L1 Galileo: E1, E5a BDS: B1I, B2a
Default Constellations	GPS + GLONASS + Galileo + BDS + QZSS
Concurrent Constellations	4 + QGNSS
SBAS	WAAS, EGNOS, MSAS, GAGAN
Function	RTK
Horizontal Positioning Accuracy	Autonomous: 1 m RTK: 5 cm + 1 ppm
Velocity Accuracy	0.03 m/s
1PPS Accuracy	20 ns
RTK Convergence Time	<10 s
Sensitivity	Acquisition: -145 dBm Tracking: -165 dBm Reacquisition: -157 dBm
Dynamic Performance	Max Altitude: 10000 m Max Velocity: 500 m/s Max Acceleration: 4g
Navigation Update Rate(RTK)	1 Hz
Raw Data Update Rate(GNSS)	1 Hz
Protocol	NMEA 0183 / RTCM 3.x
LoRa Parameters	RF Chip Semtech: LLCC68 Operating Frequency: 868MHz Modulation: LoRa Spread Spectrum Max Transmit Power: 22dBm Receiver Sensitivity: -129dBm
Weight	700g

2. Appearance and Interface

2.1 Mobile Station

Mobile

Name	Description
RTK	RTK status LED: Blinks at 1Hz for state 5 (positioning); Steady for state 4; Off for other states.
PWR	Power indicator
UART I2C	Toggle switch for UART/I2C communication interface
Gravity I2C&UART	Gravity interface for data output

2.2 Base Station

Base Station

Name	Description
Type-C	Type-C power interface
PWR	Power indicator
PWR IN	External terminal power (5~10V)

3. Product Features

LoRa Data Transmission: Utilizes LoRa wireless technology for stable, long-range, and low-power communication of RTCM correction data between the base station and rover(s).
User-Friendly: Designed for ease of use with a pre-configured data link, enabling rapid setup and operation right out of the box.
Low Cost of Use: Provides an accessible entry point into high-precision positioning technology, minimizing initial investment and complexity.
Centimeter-Level Accuracy in Open Areas: Achieves high-precision centimeter-level positioning under optimal open-sky conditions.
Single Base Station Supports Multiple Mobile: One base station can broadcast correction data to several Mobile units simultaneously, improving efficiency and scalability.