General

RTK GPS uses a stationary base station unit on the ground (Base) to send correction data to a mobile GPS unit on the aircraft (Rover). The RTK corrections allow the rover unit to achieve a higher level of precision and accuracy than would be possible otherwise.

The Base (ground) unit must be positioned in a stable location and not moved. The location can be pre-surveyed or the unit can survey the location itself. This document will cover the self survey procedure, known as a survey-in.

Mission Planner has a built-in utility for acquiring and sending RTK corrections. However, this method does not work reliably with newer GPS units. As a result this manual will cover a method of using QGroundControl to generate corrections and then pass them through Mission Planner.

Survey-In Position of Ground Station

• Position the ground station GPS antenna where it will not be disturbed and with a clear view of the sky.

• Connect the base GPS to a Ground Station Computer that will have a wireless link to the aircraft

• Open QGroundControl

  • The program will automatically detect the GPS unit and start a survey-in

  • The survey-in status can be viewed by clicking the RTK icon in the top menu bar

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Change the Survey-In Settings or Input Pre-Surveyed Coordinates

• Click the icon in the top left of QGC window

• Click Application Settings

• Go to the General menu on the left

• Scroll down to the RTK GPS settings

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• Here you can change the accuracy, time, or input a pre-surveyed location

• Restart QGC to make the settings take effect

Connect to the Aircraft with Mission Planner

Enable Mavlink Mirror

Connect QGC to Mavlink Mirror

• Click the icon in the top left of QGC window

• Click Application Settings

• Go to the Comm Link menu on the left

• Click “Add” at the bottom of the screen

  • Enter the connection information

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  • Click save

• Highlight the desired entry in the Comm Link menu

• Click “Connect” to open a connection