{"data":{"id":"259599","string_id":"Qs15XI39","status":"1","parent_id":"259228","slug":"Qs15XI39","order":"2","name":"OneRTK Ultra","type":"1","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","author":"","published_time":"1735035496","add_time":"1735035450","update_time":"1782703188","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"1","tags":[],"parent_name":"OneRTK\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u7cfb\u5217","parent_type":"1","parent_slug":"AUsuu4iG","child":[{"id":"259517","string_id":"wQkNNn4F","status":"1","parent_id":"259599","slug":"rtkultra","order":"6","name":"\u4ea7\u54c1\u6982\u8ff0","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"Mosaic-H\u4f7f\u7528\u6559\u7a0b","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1735034024","add_time":"1735030471","update_time":"1760337329","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"259517\", \"259599\", \"259228\"]","content":{"content_id":"259517","content":"

\u4ea7\u54c1\u4ecb\u7ecd<\/strong><\/h2>\n
\u6982\u8ff0<\/strong><\/h3>\n
OneRTK Ultra<\/span>\u662f\u4e00\u6b3e\u65b0\u7684\u591a\u9891\u6bb5\uff0c\u591a\u661f\u5ea7\u7684\u536b\u661f\u63a5\u6536\u673a\uff0c\u62e5\u6709\u591a\u79cd\u6570\u636e\u63a5\u53e3\u3002\u9002\u7528\u4e8e\u65e0\u4eba\u673a\uff0c\u5168\u81ea\u52a8\u673a\u5668\u4eba\uff0c\u7cbe\u51c6\u63a7\u5236\uff0c\u65e0\u4eba\u9a7e\u9a76\uff0c\u7b49\u591a\u79cd\u5e94\u7528\u9886\u57df\uff0c\u80fd\u591f\u8ddf\u8e2a\u5230\u6240\u6709\u5168\u7403\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff08<\/span>G<\/span>NSS\uff09\uff0c\u62e5\u6709\u72ec\u7279\u7684<\/span>\u6297\u5e72\u6270\u6297\u6b3a\u9a97\u7f13\u89e3\u6280\u672f<\/span>\uff1b<\/span>LOCK+\u4f7f\u5176\u80fd\u5728\u9ad8\u9707\u52a8\u548c\u51b2\u51fb\u65f6\u8fdb\u884c\u7a33\u5065\u8ddf\u8e2a\uff1bAPME+\u591a\u5f84\u51cf\u7f13\uff0c\u4ee5\u5206\u79bb\u76f4\u63a5\u4fe1\u53f7\u548c\u4ece\u9644\u8fd1\u5efa\u7b51\u7269\u53cd\u5c04\u7684\u4fe1\u53f7\uff1b\u63d0\u4f9b\u5bf9\u7535\u79bb\u5c42\u5e72\u6270\u7684\u5148\u8fdb\u4fdd\u62a4\uff0c\u5728\u590d\u6742\u73af\u5883\u4e0b\u6548\u679c\u5c24\u5176\u7a81\u51fa\uff0c\u4e3a\u5927\u4f17\u5e02\u573aGNSS\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u6027\u80fd\u57fa\u51c6\uff0c\u76ee\u524d\u6b63\u5728<\/span>GNSS\u5927\u4f17\u5e02\u573a\u5e7f\u6cdb\u4f7f\u7528\u3002<\/span><\/span><\/p>\n
<\/p>\n
\u4ea7\u54c1\u7279\u6027<\/strong><\/h3>\n
\n
\n
\u91c7\u7528\u53cc\u5929\u7ebf \uff0c\u63d0\u4f9b\u7cbe\u786e\u3001\u53ef\u9760\u7684\u4fef\u4ef0\u89d2\/\u6a2a\u6eda\u89d2\/\u822a\u5411\u89d2\u8f93\u51fa<\/span><\/p>\n<\/li>\n
\n
\u5728\u9ad8\u9891\u7387\u632f\u52a8\u548c\u5feb\u901f\u79fb\u52a8\u65f6\uff0c\u53ef\u4ee5\u5e73\u7a33\u7684\u8ddf\u8e2a\u5230\u536b\u661f\u4fe1\u53f7<\/span><\/p>\n<\/li>\n
\n
\u72ec\u7279\u7684\u6297\u5e72\u6270\u3001\u9632\u6b3a\u9a97\u7f13\u89e3\u6280\u672f\uff0c\u6709\u6548\u8bc6\u522b\u7a84\u5e26\u548c\u5bbd\u5e26\u5e72\u6270\u4ee5\u53ca\u6b3a\u9a97\u4fe1\u53f7<\/span><\/p>\n<\/li>\n
\n
\u5f15\u5165\u591a\u8def\u5f84\u6291\u5236\u7b97\u6cd5\uff0c\u4f7f\u5f97\u7cfb\u7edf\u80fd\u591f\u7cbe\u51c6\u8bc6\u522b\u4f2a\u9020\u4fe1\u53f7\uff0c\u907f\u514d\u5b9a\u4f4d\u6f02\u79fb\u7684\u53d1\u751f\u3002<\/span><\/p>\n<\/li>\n
\n
\u5148\u8fdb\u7684\u81ea\u4e3b\u5b8c\u597d\u6027\u76d1\u6d4b\u6280\u672f\uff0c\u5b9e\u65f6\u6570\u636e\u8d28\u91cf\u8bc4\u4f30\uff0c\u53ca\u65f6\u53d1\u73b0\u5e76\u5254\u9664\u4e0d\u826f\u4fe1\u53f7<\/span><\/p>\n<\/li>\n
\n
\u5148\u8fdb\u7684\u9632\u7535\u79bb\u5c42\u5e72\u6270\u6280\u672f\uff0c\u5728\u590d\u6742\u73af\u5883\u4e0b\u6548\u679c\u5c24\u5176\u7a81\u51fa<\/span><\/p>\n<\/li>\n
OSNMA\u52a0\u5bc6\u53cd\u6b3a\u9a97\u7b97\u6cd5\uff0c\u4fdd\u969c\u6709\u6548\u533a\u5206\u771f\u5b9e\u536b\u661f\u4fe1\u53f7\u548c\u8bf1\u9a97\u5bfc\u822a\u6570\u636e\u3002<\/span><\/li>\n
\n
\u517c\u5bb9Ardupilot\u548cPX4\u56fa\u4ef6<\/span><\/p>\n<\/li>\n
\n
\u652f\u6301\u6807\u51c6\u7684NMEA 0183, SBF, RINEX, RTCM, CMR\/CMR+<\/span><\/p>\n<\/li>\n
\n
\u9ad8\u8fbe500Hz\u7684\u5bfc\u822a\u66f4\u65b0\u7387<\/span><\/p>\n<\/li>\n
\u4e30\u5bcc\u7684\u901a\u4fe1\u63a5\u53e3\uff0c\u5305\u62ecCAN\u63a5\u53e3\u3001UART\u3001LAN\u7f51\u53e3\u3001PPS<\/span><\/li>\n<\/ul>\n
<\/p>\n
\u6280\u672f\u53c2\u6570<\/h3>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
\u53c2\u6570<\/p>\n<\/td>\n
\n
\u8be6\u8ff0<\/p>\n<\/td>\n
\n
\u6570\u503c<\/p>\n<\/td>\n<\/tr>\n
\n
\u53ef\u63a5\u6536\u536b\u661f<\/p>\n<\/td>\n
\n
GPS:L1C\/ L2P(Y), L2C<\/p>\n
BDS:B1, B2I, B3I<\/p>\n
GLONASS:L1C\/A, L2C\/A<\/p>\n
Galileo:E1, E5b <\/p>\n
QZSS:L1C\/ L1C\/B, L2C<\/p>\n
SBAS:<\/span>EGNOS, WAAS, GAGAN, MSAS, SDCM (L1)<\/p>\n<\/td>\n
\n
<\/p>\n<\/td>\n<\/tr>\n
\n
\u8ddf\u8e2a\u6027\u80fd(C\/N0 \u9608\u503c)<\/p>\n<\/td>\n
\n
\u8ddf\u8e2a\u548c\u5bfc\u822a\u7075\u654f\u5ea6 <\/p>\n<\/td>\n
\n
20 dB-Hz<\/p>\n<\/td>\n<\/tr>\n
\n
\u6355\u83b7\u7075\u654f\u5ea6 <\/p>\n<\/td>\n
\n
33 dB-Hz<\/p>\n<\/td>\n<\/tr>\n
\n
\u5b9a\u4f4d\u65f6\u95f4<\/p>\n
<\/p>\n<\/td>\n
\n
\u51b7\u542f\u52a8<\/p>\n<\/td>\n
\n
\uff1c45s<\/p>\n<\/td>\n<\/tr>\n
\n
\u6e29\u542f\u52a8 <\/p>\n<\/td>\n
\n
\uff1c20s<\/p>\n<\/td>\n<\/tr>\n
\n
\u91cd\u6355\u83b7  <\/p>\n<\/td>\n
\n
1s<\/p>\n<\/td>\n<\/tr>\n
\n
RTK\u72b6\u6001<\/p>\n
<\/p>\n
<\/p>\n<\/td>\n
\n
\u6c34\u5e73\u4f4d\u7f6e\u7cbe\u5ea6<\/p>\n<\/td>\n
\n
0.6cm+0.5ppm<\/p>\n<\/td>\n<\/tr>\n
\n
\u9ad8\u7a0b\u7cbe\u5ea6   <\/p>\n<\/td>\n
\n
1cm+1ppm<\/p>\n<\/td>\n<\/tr>\n
\n
\u521d\u59cb\u5316\u65f6\u95f4   <\/p>\n<\/td>\n
\n
7s<\/p>\n<\/td>\n<\/tr>\n
\n
\u5176\u4ed6\u5b9a\u4f4d\u72b6\u6001<\/p>\n
<\/p>\n
<\/p>\n<\/td>\n
\n
<\/p>\n<\/td>\n
\n
\u6c34\u5e73 \u5782\u76f4<\/p>\n<\/td>\n<\/tr>\n
\n
Standalone<\/p>\n<\/td>\n
\n
1.2m 1.9m<\/p>\n<\/td>\n<\/tr>\n
\n
SBAS <\/p>\n<\/td>\n
\n
0.6m        0.8m<\/p>\n<\/td>\n<\/tr>\n
\n
DGNSS <\/p>\n<\/td>\n
\n
0.4m        0.7m<\/p>\n<\/td>\n<\/tr>\n
\n
\u6388\u65f6\u7cbe\u5ea6<\/p>\n
<\/p>\n<\/td>\n
\n
xPPS\u8f93\u51fa<\/p>\n<\/td>\n
\n
5ns<\/p>\n<\/td>\n<\/tr>\n
\n
Event accuracy   <\/p>\n<\/td>\n
\n
\uff1c20ns<\/p>\n<\/td>\n<\/tr>\n
\n
\u5ef6\u8fdf<\/p>\n<\/td>\n
\n
99\uff05 <\/p>\n<\/td>\n
\n
\uff1c10ms<\/p>\n<\/td>\n<\/tr>\n
\n
\u901f\u5ea6\u7cbe\u5ea6<\/p>\n<\/td>\n
\n
<\/p>\n<\/td>\n
\n
0.03m\/s<\/p>\n<\/td>\n<\/tr>\n
\n
\u5b9a\u5411\u7cbe\u5ea6\uff08\u53cc\u5929\u7ebf\uff09<\/p>\n<\/td>\n
\n
<\/p>\n<\/td>\n
\n
Heading Pitch\/Roll<\/p>\n<\/td>\n<\/tr>\n
\n
1m\u5929\u7ebf\u95f4\u8ddd  <\/p>\n<\/td>\n
\n
0.15°         0.25°<\/p>\n<\/td>\n<\/tr>\n
\n
5m\u5929\u7ebf\u95f4\u8ddd   <\/p>\n<\/td>\n
\n
0.03°         0.05°<\/p>\n<\/td>\n<\/tr>\n
\n
\u9650\u5236\u6761\u4ef6<\/p>\n
<\/p>\n
<\/p>\n<\/td>\n
\n
\u52a8\u529b\u9650\u5236 <\/p>\n<\/td>\n
\n
≤ 4 g<\/p>\n<\/td>\n<\/tr>\n
\n
\u9ad8\u5ea6\u9650\u5236 <\/p>\n<\/td>\n
\n
18000 m<\/p>\n<\/td>\n<\/tr>\n
\n
\u901f\u5ea6\u9650\u5236 <\/p>\n<\/td>\n
\n
515 m\/s<\/p>\n<\/td>\n<\/tr>\n
\n
\u6ce2\u7279\u7387<\/p>\n<\/td>\n
\n
115200- 4M bps ( \u9ed8\u8ba4115200bps )<\/p>\n<\/td>\n
\n
<\/p>\n<\/td>\n<\/tr>\n
\n
\u6570\u636e\u66f4\u65b0\u9891\u7387<\/p>\n
<\/p>\n
<\/p>\n<\/td>\n
\n
\u5b9a\u4f4d\u548c\u89c2\u6d4b\u503c <\/p>\n<\/td>\n
\n
100 Hz<\/p>\n<\/td>\n<\/tr>\n
\n
\u5b9a\u4f4d\u5b9a\u5411\uff08\u53cc\u5929\u7ebf\uff09Standalone, SBAS, DGPS <\/p>\n<\/td>\n
\n
50Hz<\/p>\n<\/td>\n<\/tr>\n
\n
RTK <\/p>\n<\/td>\n
\n
20Hz<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
<\/p>\n
LED\u72b6\u6001\u5b9a\u4e49<\/h2>\n
LOG\u7ea2\u706f\uff1a\u4e0d\u4eae\u8868\u793a\u6ca1\u8bc6\u522b\u5230\u5185\u5b58\u5361\uff0c\u5e38\u4eae\u8868\u793a\u8bc6\u522b\u5230\u5185\u5b58\u5361\uff0c\u95ea\u70c1\u8868\u793a\u6b63\u5728\u8bb0\u5f55log\u3002<\/p>\n
pps\u7eff\u706f\uff1a\u6839\u636e\u8bbe\u7f6e\u7684\u5360\u7a7a\u6bd4\u6765\u95ea\u70c1\uff0c\u9ed8\u8ba4\u662f0.5\u79d2\u95ea\u4e00\u6b21\u3002<\/p>\n
PVT\u6a59\u706f\uff1a\u6ca1\u6709\u63a5\u6536\u5230\u536b\u661f\u4e0d\u4eae\uff0c\u63a5\u6536\u5230\u536b\u661f\u5b9a\u4f4d\u540e\u662f\u5e38\u4eae\u3002<\/p>\n
PWR\u7ea2\u706f\uff1a\u7535\u6e90\u706f\u901a\u7535\u540e\u4e00\u76f4\u5e38\u4eae\u3002<\/p>\n
CAN\u7eff\u706f\uff1a\u63a5\u901aCAN\u901a\u4fe1\u662f\u7eff\u706f\u4e00\u79d2\u95ea\u4e00\u6b21\uff0c\u6ca1\u63a5\u901aCAN\u901a\u4fe1\u662f\u5feb\u95ea\u3002<\/p>\n
RTK\u84dd\u706f\uff1a\u8fdb\u5165rtkfixed\u72b6\u6001\u662f\u5e38\u4eae\uff0c3D\u5b9a\u4f4d\u662f\u4e0d\u4eae\u3002<\/p>\n
\u63a5\u53e3\u5b9a\u4e49<\/h2>\n
<\/p>\n
\u4ea7\u54c1\u5c3a\u5bf8\u4e0e\u5b54\u8ddd<\/h2>\n
<\/p>\n
<\/h3>\n
<\/p>","pure_content":"\u4ea7\u54c1\u4ecb\u7ecd\n\u6982\u8ff0\nOneRTK Ultra\u662f\u4e00\u6b3e\u65b0\u7684\u591a\u9891\u6bb5\uff0c\u591a\u661f\u5ea7\u7684\u536b\u661f\u63a5\u6536\u673a\uff0c\u62e5\u6709\u591a\u79cd\u6570\u636e\u63a5\u53e3\u3002\u9002\u7528\u4e8e\u65e0\u4eba\u673a\uff0c\u5168\u81ea\u52a8\u673a\u5668\u4eba\uff0c\u7cbe\u51c6\u63a7\u5236\uff0c\u65e0\u4eba\u9a7e\u9a76\uff0c\u7b49\u591a\u79cd\u5e94\u7528\u9886\u57df\uff0c\u80fd\u591f\u8ddf\u8e2a\u5230\u6240\u6709\u5168\u7403\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff08GNSS\uff09\uff0c\u62e5\u6709\u72ec\u7279\u7684\u6297\u5e72\u6270\u6297\u6b3a\u9a97\u7f13\u89e3\u6280\u672f\uff1bLOCK+\u4f7f\u5176\u80fd\u5728\u9ad8\u9707\u52a8\u548c\u51b2\u51fb\u65f6\u8fdb\u884c\u7a33\u5065\u8ddf\u8e2a\uff1bAPME+\u591a\u5f84\u51cf\u7f13\uff0c\u4ee5\u5206\u79bb\u76f4\u63a5\u4fe1\u53f7\u548c\u4ece\u9644\u8fd1\u5efa\u7b51\u7269\u53cd\u5c04\u7684\u4fe1\u53f7\uff1b\u63d0\u4f9b\u5bf9\u7535\u79bb\u5c42\u5e72\u6270\u7684\u5148\u8fdb\u4fdd\u62a4\uff0c\u5728\u590d\u6742\u73af\u5883\u4e0b\u6548\u679c\u5c24\u5176\u7a81\u51fa\uff0c\u4e3a\u5927\u4f17\u5e02\u573aGNSS\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u6027\u80fd\u57fa\u51c6\uff0c\u76ee\u524d\u6b63\u5728GNSS\u5927\u4f17\u5e02\u573a\u5e7f\u6cdb\u4f7f\u7528\u3002\n\u00a0\n\u4ea7\u54c1\u7279\u6027\n\n\n\u91c7\u7528\u53cc\u5929\u7ebf \uff0c\u63d0\u4f9b\u7cbe\u786e\u3001\u53ef\u9760\u7684\u4fef\u4ef0\u89d2\/\u6a2a\u6eda\u89d2\/\u822a\u5411\u89d2\u8f93\u51fa\n\n\n\u5728\u9ad8\u9891\u7387\u632f\u52a8\u548c\u5feb\u901f\u79fb\u52a8\u65f6\uff0c\u53ef\u4ee5\u5e73\u7a33\u7684\u8ddf\u8e2a\u5230\u536b\u661f\u4fe1\u53f7\n\n\n\u72ec\u7279\u7684\u6297\u5e72\u6270\u3001\u9632\u6b3a\u9a97\u7f13\u89e3\u6280\u672f\uff0c\u6709\u6548\u8bc6\u522b\u7a84\u5e26\u548c\u5bbd\u5e26\u5e72\u6270\u4ee5\u53ca\u6b3a\u9a97\u4fe1\u53f7\n\n\n\u5f15\u5165\u591a\u8def\u5f84\u6291\u5236\u7b97\u6cd5\uff0c\u4f7f\u5f97\u7cfb\u7edf\u80fd\u591f\u7cbe\u51c6\u8bc6\u522b\u4f2a\u9020\u4fe1\u53f7\uff0c\u907f\u514d\u5b9a\u4f4d\u6f02\u79fb\u7684\u53d1\u751f\u3002\n\n\n\u5148\u8fdb\u7684\u81ea\u4e3b\u5b8c\u597d\u6027\u76d1\u6d4b\u6280\u672f\uff0c\u5b9e\u65f6\u6570\u636e\u8d28\u91cf\u8bc4\u4f30\uff0c\u53ca\u65f6\u53d1\u73b0\u5e76\u5254\u9664\u4e0d\u826f\u4fe1\u53f7\n\n\n\u00a0\u5148\u8fdb\u7684\u9632\u7535\u79bb\u5c42\u5e72\u6270\u6280\u672f\uff0c\u5728\u590d\u6742\u73af\u5883\u4e0b\u6548\u679c\u5c24\u5176\u7a81\u51fa\n\nOSNMA\u52a0\u5bc6\u53cd\u6b3a\u9a97\u7b97\u6cd5\uff0c\u4fdd\u969c\u6709\u6548\u533a\u5206\u771f\u5b9e\u536b\u661f\u4fe1\u53f7\u548c\u8bf1\u9a97\u5bfc\u822a\u6570\u636e\u3002\n\n\u517c\u5bb9Ardupilot\u548cPX4\u56fa\u4ef6\n\n\n\u652f\u6301\u6807\u51c6\u7684NMEA 0183, SBF, RINEX, RTCM, CMR\/CMR+\n\n\n\u9ad8\u8fbe500Hz\u7684\u5bfc\u822a\u66f4\u65b0\u7387\n\n\u4e30\u5bcc\u7684\u901a\u4fe1\u63a5\u53e3\uff0c\u5305\u62ecCAN\u63a5\u53e3\u3001UART\u3001LAN\u7f51\u53e3\u3001PPS\n\n\u00a0\n\u6280\u672f\u53c2\u6570\n\n\n\n \u53c2\u6570\n \u8be6\u8ff0\n \u6570\u503c\n\n\n \u53ef\u63a5\u6536\u536b\u661f\n GPS:L1C\/ L2P(Y), L2C\nBDS:B1, B2I, B3I\nGLONASS:L1C\/A, L2C\/A\nGalileo:E1, E5b\u00a0\nQZSS:L1C\/ L1C\/B, L2C\nSBAS:EGNOS, WAAS, GAGAN, MSAS, SDCM (L1)\n \u00a0\n\n\n \u8ddf\u8e2a\u6027\u80fd(C\/N0 \u9608\u503c)\n \u8ddf\u8e2a\u548c\u5bfc\u822a\u7075\u654f\u5ea6\u00a0\n 20 dB-Hz\n\n\n \u6355\u83b7\u7075\u654f\u5ea6\u00a0\n 33 dB-Hz\n\n\n \u5b9a\u4f4d\u65f6\u95f4\n\u00a0\n \u51b7\u542f\u52a8\n \uff1c45s\n\n\n \u6e29\u542f\u52a8\u00a0\n \uff1c20s\n\n\n \u91cd\u6355\u83b7\u00a0\u00a0\n 1s\n\n\n RTK\u72b6\u6001\n\u00a0\n\u00a0\n \u6c34\u5e73\u4f4d\u7f6e\u7cbe\u5ea6\n 0.6cm+0.5ppm\n\n\n \u9ad8\u7a0b\u7cbe\u5ea6\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0\n 1cm+1ppm\n\n\n \u521d\u59cb\u5316\u65f6\u95f4\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0\n 7s\n\n\n \u5176\u4ed6\u5b9a\u4f4d\u72b6\u6001\n\u00a0\n\u00a0\n \u00a0\n \u6c34\u5e73\u00a0 \u00a0 \u00a0\u5782\u76f4\n\n\n Standalone\n 1.2m \u00a0 \u00a0 1.9m\n\n\n SBAS\u00a0 \u00a0\n 0.6m \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a00.8m\n\n\n DGNSS\u00a0\n 0.4m \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a00.7m\n\n\n \u6388\u65f6\u7cbe\u5ea6\n\u00a0\n xPPS\u8f93\u51fa\n 5ns\n\n\n Event accuracy\u00a0 \u00a0\u00a0\n \uff1c20ns\n\n\n \u5ef6\u8fdf\n 99\uff05\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\n \uff1c10ms\n\n\n \u901f\u5ea6\u7cbe\u5ea6\n \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\n 0.03m\/s\n\n\n \u5b9a\u5411\u7cbe\u5ea6\uff08\u53cc\u5929\u7ebf\uff09\n \u00a0\n \u00a0Heading\u00a0 Pitch\/Roll\n\n\n 1m\u5929\u7ebf\u95f4\u8ddd\u00a0\u00a0\n \u00a00.15\u00b0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a00.25\u00b0\n\n\n 5m\u5929\u7ebf\u95f4\u8ddd\u00a0 \u00a0\u00a0\n \u00a00.03\u00b0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a00.05\u00b0\n\n\n \u9650\u5236\u6761\u4ef6\n\u00a0\n\u00a0\n \u52a8\u529b\u9650\u5236\u00a0\n \u00a0\u2264 4 g\n\n\n \u9ad8\u5ea6\u9650\u5236\u00a0\n 18000 m\n\n\n \u901f\u5ea6\u9650\u5236\u00a0\n \u00a0515 m\/s\n\n\n \u6ce2\u7279\u7387\n 115200- 4M bps ( \u9ed8\u8ba4115200bps )\n \u00a0\n\n\n \u6570\u636e\u66f4\u65b0\u9891\u7387\n\u00a0\n\u00a0\n \u5b9a\u4f4d\u548c\u89c2\u6d4b\u503c\u00a0\n 100 Hz\n\n\n \u5b9a\u4f4d\u5b9a\u5411\uff08\u53cc\u5929\u7ebf\uff09Standalone, SBAS, DGPS\u00a0\n 50Hz\n\n\n RTK\u00a0\n 20Hz\n\n\n\n\u00a0\nLED\u72b6\u6001\u5b9a\u4e49\nLOG\u7ea2\u706f\uff1a\u4e0d\u4eae\u8868\u793a\u6ca1\u8bc6\u522b\u5230\u5185\u5b58\u5361\uff0c\u5e38\u4eae\u8868\u793a\u8bc6\u522b\u5230\u5185\u5b58\u5361\uff0c\u95ea\u70c1\u8868\u793a\u6b63\u5728\u8bb0\u5f55log\u3002\npps\u7eff\u706f\uff1a\u6839\u636e\u8bbe\u7f6e\u7684\u5360\u7a7a\u6bd4\u6765\u95ea\u70c1\uff0c\u9ed8\u8ba4\u662f0.5\u79d2\u95ea\u4e00\u6b21\u3002\nPVT\u6a59\u706f\uff1a\u6ca1\u6709\u63a5\u6536\u5230\u536b\u661f\u4e0d\u4eae\uff0c\u63a5\u6536\u5230\u536b\u661f\u5b9a\u4f4d\u540e\u662f\u5e38\u4eae\u3002\nPWR\u7ea2\u706f\uff1a\u7535\u6e90\u706f\u901a\u7535\u540e\u4e00\u76f4\u5e38\u4eae\u3002\nCAN\u7eff\u706f\uff1a\u63a5\u901aCAN\u901a\u4fe1\u662f\u7eff\u706f\u4e00\u79d2\u95ea\u4e00\u6b21\uff0c\u6ca1\u63a5\u901aCAN\u901a\u4fe1\u662f\u5feb\u95ea\u3002\nRTK\u84dd\u706f\uff1a\u8fdb\u5165rtkfixed\u72b6\u6001\u662f\u5e38\u4eae\uff0c3D\u5b9a\u4f4d\u662f\u4e0d\u4eae\u3002\n\u63a5\u53e3\u5b9a\u4e49\n\n\u4ea7\u54c1\u5c3a\u5bf8\u4e0e\u5b54\u8ddd\n\n\u00a0\n\u00a0","is_draft":"0","editor_type":"3","file_path":"","add_time":"1735030471","update_time":"1760337329"},"pure_content":"\u4ea7\u54c1\u4ecb\u7ecd\n\u6982\u8ff0\nOneRTK Ultra\u662f\u4e00\u6b3e\u65b0\u7684\u591a\u9891\u6bb5\uff0c\u591a\u661f\u5ea7\u7684\u536b\u661f\u63a5\u6536\u673a\uff0c\u62e5\u6709\u591a\u79cd\u6570\u636e\u63a5\u53e3\u3002\u9002\u7528\u4e8e\u65e0\u4eba\u673a\uff0c\u5168\u81ea\u52a8\u673a\u5668\u4eba\uff0c\u7cbe\u51c6\u63a7\u5236\uff0c\u65e0\u4eba\u9a7e\u9a76\uff0c\u7b49\u591a\u79cd\u5e94\u7528\u9886\u57df\uff0c\u80fd\u591f\u8ddf\u8e2a\u5230\u6240\u6709\u5168\u7403\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff08GNSS\uff09\uff0c\u62e5\u6709\u72ec\u7279\u7684\u6297\u5e72\u6270\u6297\u6b3a\u9a97\u7f13\u89e3\u6280\u672f\uff1bLOCK+\u4f7f\u5176\u80fd\u5728\u9ad8\u9707\u52a8\u548c\u51b2\u51fb\u65f6\u8fdb\u884c\u7a33\u5065\u8ddf\u8e2a\uff1bAPME+\u591a\u5f84\u51cf\u7f13\uff0c\u4ee5\u5206\u79bb\u76f4\u63a5\u4fe1\u53f7\u548c\u4ece\u9644\u8fd1\u5efa\u7b51\u7269\u53cd\u5c04\u7684\u4fe1\u53f7\uff1b\u63d0\u4f9b\u5bf9\u7535\u79bb\u5c42\u5e72\u6270\u7684\u5148\u8fdb\u4fdd\u62a4\uff0c\u5728\u590d\u6742\u73af\u5883\u4e0b\u6548\u679c\u5c24\u5176\u7a81\u51fa\uff0c\u4e3a\u5927"},{"id":"437843","string_id":"SWM3nYXD","status":"1","parent_id":"259599","slug":"SWM3nYXD","order":"5","name":"\u4f7f\u7528Ardupilot\u56fa\u4ef6","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1745593285","add_time":"1745238257","update_time":"1754381361","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"437843\", \"259599\", \"259228\"]","content":{"content_id":"437843","content":"
Ardupilot\u8bbe\u7f6e\u6559\u7a0b<\/h2>\n
\u4f7f\u7528CAN\u901a\u4fe1\uff08\u5efa\u8bae\uff09<\/span><\/h3>\n
\u6a21\u5757\u8fde\u63a5\u98de\u63a7\u7684CAN1\/2\u63a5\u53e3\uff0c\u793a\u610f\u56fe\u5982\u4e0b<\/p>\n
\u98de\u63a7\u4f7f\u7528ardupilot4.4.0\u53ca\u66f4\u9ad8\u7248\u672c\u56fa\u4ef6\uff0c\u4f7f\u7528\u4e24\u4e2a\u5929\u7ebf\u6765\u5b9e\u73b0GPS\u5b9a\u5411\u529f\u80fd\uff0c\u8bf7\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a<\/p>\n
\u3010GPS_TYPE<\/strong>\u3011\u8bbe\u7f6e\u4e3a9\uff08AP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\u8bbe\u7f6eGPS1_TYPE=9\uff09<\/div>\n
\u3010CAN_P1_DRIVER\u3011<\/strong>\u8bbe\u7f6e\u4e3a1<\/div>\n
\u3010EK3_SRC1_YAW\u3011<\/strong>\u8bbe\u7f6e\u4e3a2\uff08\u4f7f\u7528GPS\u4f5c\u4e3a\u822a\u5411\u6e90\uff09\u6216\u4e3a3\uff08\u4f18\u5148\u4f7f\u7528GPS\u4f5c\u4e3a\u822a\u5411\u6e90\uff0c\u7f57\u76d8\u4f5c\u5907\u4efd\uff09\u3002 <\/div>\n
<\/div>\n
\u914d\u7f6e\u5929\u7ebf\u65b9\u5411<\/strong><\/div>\n
\u6a21\u5757\u8fde\u63a5\u98de\u63a7\uff0c\u8fde\u63a5\u4e0a\u5730\u9762\u7ad9\uff0c\u5728\u3010\u521d\u59cb\u8bbe\u7f6e\u3011→\u3010\u53ef\u9009\u786c\u4ef6\u3011→\u3010DroneCAN\/UAVCAN\u3011→\u70b9\u51fb\u3010mavlink-can1\u3011\u8bfb\u53d6UAVCAN\u8bbe\u5907\uff0c\u627e\u5230name\u4e3aorg,ardupilot.ZeroOne_MOC\uff0c\u70b9menu→parameters<\/div>\n
\u6ce8\uff1a\u82e5\u662f\u6ca1\u6709\u8bfb\u53d6\u51faorg,ardupilot.ZeroOne_MOC\uff0c\u53ef\u4ee5\u5207\u6362\u5230\u98de\u884c\u6570\u636e\u754c\u9762\uff0c\u7136\u540e\u5207\u6362\u56deDrone\/Uavcan\u754c\u9762\uff0c\u70b9mavlink-can2<\/div>\n
<\/div>\n
<\/div>\n
\u3010GPS1_MB_TYPE\u3011\u8bbe\u7f6e\u62101<\/strong>, \u70b9\u51fb\u5199\u5165\u53c2\u6570\uff0c\u70b9\u51fb\u5237\u65b0\u53c2\u6570\uff08\u9ed8\u8ba4\u51fa\u5382\u5df2\u7ecf\u8bbe\u7f6e\u62101\uff09<\/div>\n
<\/div>\n
<\/div>\n
\u3010gps1_mb_ofs_x\u3011\u3001\u3010gps1_mb_ofs_y\u3011\u3001\u3010gps1_mb_ofs_z\u3011<\/span><\/strong>\u6839\u636e\u5929\u7ebf\u7684\u5b89\u88c5\u4f4d\u7f6e\u548c\u65b9\u5411\u4fee\u6539\u53c2\u6570\uff0c\u70b9\u5199\u5165\u53c2\u6570\uff1b<\/span><\/div>\n
<\/div>\n
<\/div>\n
gps1_mb_ofs_x,gps1_mb_ofs_y,gps1_mb_ofs_z <\/strong>\u53c2\u6570\u5b9a\u4e49\u5982\u4e0b\uff1a<\/div>\n
\n
X\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u524d\u540e\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u7684\u524d\u65b9\uff0c\u6b64\u53c2\u6570\u5e94\u8be5\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u524d\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002<\/p>\n
Y\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u5de6\u53f3\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u4ece\u5929\u7ebf\u7684\u53f3\u4fa7\u65f6\uff0c\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u53f3\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002<\/p>\n
Z\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u5782\u76f4\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4e\u4e8e\u4ece\u5929\u7ebf\uff0c\u6b64\u53c2\u6570\u5e94\u8be5\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u4e0b\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002<\/p>\n
$\"\"$ <\/p>\n
\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u79bb\u91cd\u5fc3\u504f\u79fb\u91cf<\/strong><\/p>\n<\/div>\n
\n
\u5982\u679cOneRTK\u7684\u4e3b\u5929\u7ebf\u65e0\u6cd5\u5b89\u88c5\u65e0\u4eba\u7cfb\u7edf\u7684\u91cd\u5fc3\u4f4d\u7f6e\uff0c\u9700\u8981\u8bbe\u7f6e\u5176\u4e0e\u91cd\u5fc3\u4f4d\u7f6e\u7684\u504f\u79fb\u503c\uff1a\u5730\u9762\u7ad9\u7684\u914d\u7f6e\/\u8c03\u8bd5→\u5168\u90e8\u53c2\u6570\u8868→\u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff1a<\/p>\n
GPS_POS1_X\/Y\/Z<\/strong>\uff08\u5bf9\u4e8eAP4.6\u4ee5\u4e0b\u7248\u672c\u56fa\u4ef6\uff09\u6216GPS1_POS_X\/Y\/Z<\/strong>\uff08\u5bf9\u4e8eAP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\uff09\uff1a\u5206\u522b\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u7684X\u3001Y\u3001Z\u8f74\u504f\u79fb\u91cf\uff08\u5355\u4f4d\uff1a\u7c73\uff09\u3002<\/p>\n
\u504f\u79fb\u8ddd\u79bb\u548c\u65b9\u5411\u6ce8\u91ca\uff1a<\/strong><\/p>\n
X\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u7eb5\u5411\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u524d\u540e\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u524d\u65b9\u65f6\uff0c\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u524d\u504f\u79fb\u7684\u8ddd\u79bb<\/p>\n
Y\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u6a2a\u5411\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u5de6\u53f3\u65b9\u5411\u3002\u82e5\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u53f3\u4fa7\uff0c\u5219\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u53f3\u504f\u79fb\u7684\u8ddd\u79bb<\/p>\n
Z\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u5782\u76f4\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u4e0a\u4e0b\u65b9\u5411\u3002\u5982\u679c\u4e3b\u5929\u7ebf\u4f4e\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u4f4d\u7f6e\uff0c\u90a3\u4e48\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u4e0b\u504f\u79fb\u7684\u8ddd\u79bb<\/p>\n<\/div>\n
\n
<\/div>\n<\/div>\n
<\/div>\n
\u4f7f\u7528UART\u901a\u4fe1<\/span><\/h3>\n
\u98de\u63a7\u4f7f\u7528 ArduPilot 4.5.0\u53ca\u66f4\u9ad8\u7248\u672c\u56fa\u4ef6\uff0c\u4f7f\u7528\u4e24\u4e2a\u5929\u7ebf\u6765\u5b9e\u73b0GPS\u5b9a\u5411\u529f\u80fd\uff0c\u5728\u914d\u7f6e\/\u8c03\u8bd5→\u5168\u90e8\u53c2\u6570\u8868→\u641c\u7d22\u5e76\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a<\/p>\n
\u3010GPS_TYPE\u3011<\/strong> = 26\uff08AP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\u8bbe\u7f6eGPS1_TYPE=26\uff09<\/p>\n
\u3010GPS_MB1_TYPE\u3011 = 1<\/strong><\/p>\n
\u3010GPS_MB1_OFS_X \u3011\u3010 GPS_MB1_OFS_Y \u3011<\/strong>\u548c GPS_MB1_OFS_Z \u4ee5\u5339\u914d\u4e3b\u5929\u7ebf\u4e0e\u526f\u5929\u7ebf\u7684\u504f\u79fb\u91cf\uff08\u4ee5\u7c73\u4e3a\u5355\u4f4d\uff09\u3002\u4f8b\u5982\uff0c\u5929\u7ebf\u5b89\u88c5\u5728\u8f7d\u5177\u7684\u5de6\u53f3\u4e24\u4fa7\uff0c\u4e24\u5929\u7ebf\u95f4\u8ddd50cm\uff0c\u4e3b\u5929\u7ebf\u56fa\u5b9a\u5728\u8f7d\u5177\u53f3\u4fa7\uff0c\u5219\u8bbe\u7f6e GPS_MB1_OFS_Y=0.5\u3002<\/p>\n
\u3010GPS_POS1_X \u3011\u3010GPS_POS1_Y \u3011<\/strong>\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u79bb\u91cd\u5fc3\u7684\u504f\u79fb\u91cf\uff0c\u50cf\u4e0a\u9762\u7684\u5b89\u88c5\u65b9\u5f0fGPS_POS1_Y\u8bbe\u7f6e\u4e3a0.25.<\/p>\n
\u3010GPS_AUTO_CONFIG\u3011<\/strong> =0 (\u5173\u95ed\u81ea\u52a8\u914d\u7f6e)<\/p>\n
\u3010EK3_SRC1_YAW\u3011<\/strong> = 2 \uff08\u53ea\u4f7f\u7528gps\u7684yaw\u6570\u636e\u4f5c\u4e3a\u822a\u5411\u6570\u636e\u6765\u6e90\uff09<\/p>\n
\u3010SERIAL3_PROTOCOL\u3011<\/strong>=-1\uff08\u5173\u95edgps1\u63a5\u53e3\uff0c\u8fd9\u6837gps2\u63a5\u53e3\u5c06\u88ab\u5b9a\u4e49\u6210\u7b2c\u4e00\u4e2agps\uff09<\/p>\n
\u3010SERIAL4_PROTOCOL\u3011<\/strong>=5\uff08\u9ed8\u8ba4\u662f5\uff0c\u68c0\u67e5\u5373\u53ef\u4e0d\u9700\u8981\u4fee\u6539\uff09<\/p>\n
\u3010SERIAL4_BAUD\u3011<\/strong>=115\uff08\u5373\u6ce2\u7279\u7387\u8bbe\u7f6e115200\uff09<\/p>\n
<\/p>\n
\u822a\u5411\u786e\u8ba4\u4e0e\u6821\u51c6<\/h2>\n
\n
\u5728\u5b8c\u6210GPS\u7cfb\u7edf\u7684\u914d\u7f6e\u548c\u6821\u51c6\u4e4b\u540e\uff0c\u9700\u8981\u5bf9\u822a\u5411\u7684\u51c6\u786e\u6027\u8fdb\u884c\u9a8c\u8bc1\uff1a<\/p>\n
\n
\u6253\u5f00MissionPlanner\u8f6f\u4ef6\uff0c\u5e76\u5207\u6362\u5230“\u98de\u884c\u6570\u636e”\u9875\u9762\u3002<\/li>\n
\u5728“\u72b6\u6001\/status”\u5de5\u5177\u680f\u4e2d\uff0c\u627e\u5230\u5e76\u89c2\u5bdf”gpsyaw”\u503c\u3002”gpsyaw”\u8868\u793aGPS\u8ba1\u7b97\u51fa\u7684\u822a\u5411\uff0c\u68c0\u67e5\u8fd9\u4e2a\u503c\u662f\u5426\u4e0e\u65e0\u4eba\u673a\u5b9e\u9645\u7684\u822a\u5411\u4e00\u81f4\u3002<\/li>\n
\u4e3a\u4e86\u786e\u8ba4”gpsyaw”\u503c\u7684\u51c6\u786e\u6027\uff0c\u60a8\u53ef\u4ee5\u624b\u52a8\u8f6c\u52a8\u673a\u4f53\u3002\u5728\u8f6c\u52a8\u8fc7\u7a0b\u4e2d\uff0c\u6ce8\u610f\u89c2\u5bdf”gpsyaw”\u503c\u662f\u5426\u80fd\u591f\u6b63\u786e\u5730\u54cd\u5e94\u65e0\u4eba\u673a\u7684\u8f6c\u52a8\u3002<\/li>\n
\u82e5\u662fgpsyaw\u6570\u503c\u4e00\u76f4\u662f0\uff0c\u8868\u793a\u6ca1\u6709\u89e3\u7b97\u51fa\u822a\u5411\u6570\u636e\uff0c\u53ef\u4ee5\u68c0\u67e5\u4ee5\u4e0b\u51e0\u4e2a\u70b9\uff1a\n
\n
\u68c0\u67e5\u53c2\u6570\uff08gps1_mb_ofs_x\/y\/z\uff09can\u901a\u4fe1\u65f6\u8be5\u53c2\u6570\u662frtk\u5185\u90e8\u7684\u53c2\u6570\u4e0d\u662f\u98de\u63a7\u7684\u53c2\u6570\uff0cuart\u901a\u4fe1\u65f6\u662f\u98de\u63a7\u5185\u90e8\u7684\u53c2\u6570\u3002<\/li>\n
\u5929\u7ebf\u95f4\u8ddd\u6d4b\u91cf\u662f\u4e24\u4e2a\u5929\u7ebf\u4e2d\u5fc3\u7684\u95f4\u8ddd\uff0c\u8bbe\u7f6e\u7684\u504f\u5dee\u4e0d\u80fd\u8d85\u8fc72cm\u3002<\/li>\n
\u641c\u661f\u6570\u91cf\u5c11\uff0c\u53ef\u80fd\u536b\u661f\u63a5\u6536\u73af\u5883\u53ef\u80fd\u8f83\u5dee\uff0c\u4f8b\u5982\u5728\u5ba4\u5185\uff0c\u5927\u4ef0\u89d2\u7684\u697c\u95f4\u7b49<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<\/div>\n
\n
$\"\"$ <\/p>\n<\/div>\n
\n
<\/p>\n<\/div>","pure_content":"Ardupilot\u8bbe\u7f6e\u6559\u7a0b\n\u4f7f\u7528CAN\u901a\u4fe1\uff08\u5efa\u8bae\uff09\n\u6a21\u5757\u8fde\u63a5\u98de\u63a7\u7684CAN1\/2\u63a5\u53e3\uff0c\u793a\u610f\u56fe\u5982\u4e0b\n\u98de\u63a7\u4f7f\u7528ardupilot4.4.0\u53ca\u66f4\u9ad8\u7248\u672c\u56fa\u4ef6\uff0c\u4f7f\u7528\u4e24\u4e2a\u5929\u7ebf\u6765\u5b9e\u73b0GPS\u5b9a\u5411\u529f\u80fd\uff0c\u8bf7\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a\n\u3010GPS_TYPE\u3011\u8bbe\u7f6e\u4e3a9\uff08AP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\u8bbe\u7f6eGPS1_TYPE=9\uff09\n\u3010CAN_P1_DRIVER\u3011\u8bbe\u7f6e\u4e3a1\n\u3010EK3_SRC1_YAW\u3011\u8bbe\u7f6e\u4e3a2\uff08\u4f7f\u7528GPS\u4f5c\u4e3a\u822a\u5411\u6e90\uff09\u6216\u4e3a3\uff08\u4f18\u5148\u4f7f\u7528GPS\u4f5c\u4e3a\u822a\u5411\u6e90\uff0c\u7f57\u76d8\u4f5c\u5907\u4efd\uff09\u3002\u00a0\n\u00a0\n\u00a0 \u914d\u7f6e\u5929\u7ebf\u65b9\u5411\n\u6a21\u5757\u8fde\u63a5\u98de\u63a7\uff0c\u8fde\u63a5\u4e0a\u5730\u9762\u7ad9\uff0c\u5728\u3010\u521d\u59cb\u8bbe\u7f6e\u3011\u2192\u3010\u53ef\u9009\u786c\u4ef6\u3011\u2192\u3010DroneCAN\/UAVCAN\u3011\u2192\u70b9\u51fb\u3010mavlink-can1\u3011\u8bfb\u53d6UAVCAN\u8bbe\u5907\uff0c\u627e\u5230name\u4e3aorg,ardupilot.ZeroOne_MOC\uff0c\u70b9menu\u2192parameters\n\u6ce8\uff1a\u82e5\u662f\u6ca1\u6709\u8bfb\u53d6\u51faorg,ardupilot.ZeroOne_MOC\uff0c\u53ef\u4ee5\u5207\u6362\u5230\u98de\u884c\u6570\u636e\u754c\u9762\uff0c\u7136\u540e\u5207\u6362\u56deDrone\/Uavcan\u754c\u9762\uff0c\u70b9mavlink-can2\n\n\u00a0\n\u3010GPS1_MB_TYPE\u3011\u8bbe\u7f6e\u62101, \u70b9\u51fb\u5199\u5165\u53c2\u6570\uff0c\u70b9\u51fb\u5237\u65b0\u53c2\u6570\uff08\u9ed8\u8ba4\u51fa\u5382\u5df2\u7ecf\u8bbe\u7f6e\u62101\uff09\n\n\u00a0\n\u3010gps1_mb_ofs_x\u3011\u3001\u3010gps1_mb_ofs_y\u3011\u3001\u3010gps1_mb_ofs_z\u3011\u6839\u636e\u5929\u7ebf\u7684\u5b89\u88c5\u4f4d\u7f6e\u548c\u65b9\u5411\u4fee\u6539\u53c2\u6570\uff0c\u70b9\u5199\u5165\u53c2\u6570\uff1b\n\n\u00a0\ngps1_mb_ofs_x,gps1_mb_ofs_y,gps1_mb_ofs_z \u53c2\u6570\u5b9a\u4e49\u5982\u4e0b\uff1a\n\nX\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u524d\u540e\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u7684\u524d\u65b9\uff0c\u6b64\u53c2\u6570\u5e94\u8be5\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u524d\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002\nY\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u5de6\u53f3\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u4ece\u5929\u7ebf\u7684\u53f3\u4fa7\u65f6\uff0c\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u53f3\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002\nZ\u8f74\u901a\u5e38\u5b9a\u4e49\u4e3a\u8f7d\u5177\u7684\u5782\u76f4\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4e\u4e8e\u4ece\u5929\u7ebf\uff0c\u6b64\u53c2\u6570\u5e94\u8be5\u8f93\u5165\u4e00\u4e2a\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u4ece\u5929\u7ebf\u5411\u4e0b\u79fb\u52a8\u4e86\u76f8\u5e94\u7684\u8ddd\u79bb\u3002\n\n\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u79bb\u91cd\u5fc3\u504f\u79fb\u91cf\n\n\n\u5982\u679cOneRTK\u7684\u4e3b\u5929\u7ebf\u65e0\u6cd5\u5b89\u88c5\u65e0\u4eba\u7cfb\u7edf\u7684\u91cd\u5fc3\u4f4d\u7f6e\uff0c\u9700\u8981\u8bbe\u7f6e\u5176\u4e0e\u91cd\u5fc3\u4f4d\u7f6e\u7684\u504f\u79fb\u503c\uff1a\u5730\u9762\u7ad9\u7684\u914d\u7f6e\/\u8c03\u8bd5\u2192\u5168\u90e8\u53c2\u6570\u8868\u2192\u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff1a\nGPS_POS1_X\/Y\/Z\uff08\u5bf9\u4e8eAP4.6\u4ee5\u4e0b\u7248\u672c\u56fa\u4ef6\uff09\u6216GPS1_POS_X\/Y\/Z\uff08\u5bf9\u4e8eAP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\uff09\uff1a\u5206\u522b\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u7684X\u3001Y\u3001Z\u8f74\u504f\u79fb\u91cf\uff08\u5355\u4f4d\uff1a\u7c73\uff09\u3002\n\u504f\u79fb\u8ddd\u79bb\u548c\u65b9\u5411\u6ce8\u91ca\uff1a\nX\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u7eb5\u5411\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u524d\u540e\u65b9\u5411\u3002\u5f53\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u524d\u65b9\u65f6\uff0c\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u524d\u504f\u79fb\u7684\u8ddd\u79bb\nY\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u6a2a\u5411\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u5de6\u53f3\u65b9\u5411\u3002\u82e5\u4e3b\u5929\u7ebf\u4f4d\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u53f3\u4fa7\uff0c\u5219\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u53f3\u504f\u79fb\u7684\u8ddd\u79bb\nZ\u8f74\u901a\u5e38\u6307\u4ee3\u65e0\u4eba\u673a\u7684\u5782\u76f4\u8f74\uff0c\u5373\u8f7d\u5177\u7684\u4e0a\u4e0b\u65b9\u5411\u3002\u5982\u679c\u4e3b\u5929\u7ebf\u4f4e\u4e8e\u65e0\u4eba\u673a\u91cd\u5fc3\u7684\u4f4d\u7f6e\uff0c\u90a3\u4e48\u6b64\u53c2\u6570\u5e94\u8f93\u5165\u6b63\u503c\uff0c\u8868\u793a\u4e3b\u5929\u7ebf\u76f8\u5bf9\u4e8e\u91cd\u5fc3\u5411\u4e0b\u504f\u79fb\u7684\u8ddd\u79bb\n\n\n\n\n\u00a0\n\u4f7f\u7528UART\u901a\u4fe1\n\u98de\u63a7\u4f7f\u7528 ArduPilot 4.5.0\u53ca\u66f4\u9ad8\u7248\u672c\u56fa\u4ef6\uff0c\u4f7f\u7528\u4e24\u4e2a\u5929\u7ebf\u6765\u5b9e\u73b0GPS\u5b9a\u5411\u529f\u80fd\uff0c\u5728\u914d\u7f6e\/\u8c03\u8bd5\u2192\u5168\u90e8\u53c2\u6570\u8868\u2192\u641c\u7d22\u5e76\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a\n\u3010GPS_TYPE\u3011 = 26\uff08AP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\u8bbe\u7f6eGPS1_TYPE=26\uff09\n\u3010GPS_MB1_TYPE\u3011 = 1\n\u3010GPS_MB1_OFS_X \u3011\u3010 GPS_MB1_OFS_Y \u3011\u548c GPS_MB1_OFS_Z \u4ee5\u5339\u914d\u4e3b\u5929\u7ebf\u4e0e\u526f\u5929\u7ebf\u7684\u504f\u79fb\u91cf\uff08\u4ee5\u7c73\u4e3a\u5355\u4f4d\uff09\u3002\u4f8b\u5982\uff0c\u5929\u7ebf\u5b89\u88c5\u5728\u8f7d\u5177\u7684\u5de6\u53f3\u4e24\u4fa7\uff0c\u4e24\u5929\u7ebf\u95f4\u8ddd50cm\uff0c\u4e3b\u5929\u7ebf\u56fa\u5b9a\u5728\u8f7d\u5177\u53f3\u4fa7\uff0c\u5219\u8bbe\u7f6e GPS_MB1_OFS_Y=0.5\u3002\n\u3010GPS_POS1_X \u3011\u3010GPS_POS1_Y \u3011\u8bbe\u7f6e\u4e3b\u5929\u7ebf\u79bb\u91cd\u5fc3\u7684\u504f\u79fb\u91cf\uff0c\u50cf\u4e0a\u9762\u7684\u5b89\u88c5\u65b9\u5f0fGPS_POS1_Y\u8bbe\u7f6e\u4e3a0.25.\n\u3010GPS_AUTO_CONFIG\u3011 =0 (\u5173\u95ed\u81ea\u52a8\u914d\u7f6e)\n\u3010EK3_SRC1_YAW\u3011 = 2 \uff08\u53ea\u4f7f\u7528gps\u7684yaw\u6570\u636e\u4f5c\u4e3a\u822a\u5411\u6570\u636e\u6765\u6e90\uff09\n\u3010SERIAL3_PROTOCOL\u3011=-1\uff08\u5173\u95edgps1\u63a5\u53e3\uff0c\u8fd9\u6837gps2\u63a5\u53e3\u5c06\u88ab\u5b9a\u4e49\u6210\u7b2c\u4e00\u4e2agps\uff09\n\u3010SERIAL4_PROTOCOL\u3011=5\uff08\u9ed8\u8ba4\u662f5\uff0c\u68c0\u67e5\u5373\u53ef\u4e0d\u9700\u8981\u4fee\u6539\uff09\n\u3010SERIAL4_BAUD\u3011=115\uff08\u5373\u6ce2\u7279\u7387\u8bbe\u7f6e115200\uff09\n\u00a0\n\u822a\u5411\u786e\u8ba4\u4e0e\u6821\u51c6\n\n\u5728\u5b8c\u6210GPS\u7cfb\u7edf\u7684\u914d\u7f6e\u548c\u6821\u51c6\u4e4b\u540e\uff0c\u9700\u8981\u5bf9\u822a\u5411\u7684\u51c6\u786e\u6027\u8fdb\u884c\u9a8c\u8bc1\uff1a\n\n\u6253\u5f00MissionPlanner\u8f6f\u4ef6\uff0c\u5e76\u5207\u6362\u5230\u201c\u98de\u884c\u6570\u636e\u201d\u9875\u9762\u3002\n\u5728\u201c\u72b6\u6001\/status\u201d\u5de5\u5177\u680f\u4e2d\uff0c\u627e\u5230\u5e76\u89c2\u5bdf\u201dgpsyaw\u201d\u503c\u3002\u201dgpsyaw\u201d\u8868\u793aGPS\u8ba1\u7b97\u51fa\u7684\u822a\u5411\uff0c\u68c0\u67e5\u8fd9\u4e2a\u503c\u662f\u5426\u4e0e\u65e0\u4eba\u673a\u5b9e\u9645\u7684\u822a\u5411\u4e00\u81f4\u3002\n\u00a0 \u4e3a\u4e86\u786e\u8ba4\u201dgpsyaw\u201d\u503c\u7684\u51c6\u786e\u6027\uff0c\u60a8\u53ef\u4ee5\u624b\u52a8\u8f6c\u52a8\u673a\u4f53\u3002\u5728\u8f6c\u52a8\u8fc7\u7a0b\u4e2d\uff0c\u6ce8\u610f\u89c2\u5bdf\u201dgpsyaw\u201d\u503c\u662f\u5426\u80fd\u591f\u6b63\u786e\u5730\u54cd\u5e94\u65e0\u4eba\u673a\u7684\u8f6c\u52a8\u3002\n\u82e5\u662fgpsyaw\u6570\u503c\u4e00\u76f4\u662f0\uff0c\u8868\u793a\u6ca1\u6709\u89e3\u7b97\u51fa\u822a\u5411\u6570\u636e\uff0c\u53ef\u4ee5\u68c0\u67e5\u4ee5\u4e0b\u51e0\u4e2a\u70b9\uff1a\n\n\u68c0\u67e5\u53c2\u6570\uff08gps1_mb_ofs_x\/y\/z\uff09can\u901a\u4fe1\u65f6\u8be5\u53c2\u6570\u662frtk\u5185\u90e8\u7684\u53c2\u6570\u4e0d\u662f\u98de\u63a7\u7684\u53c2\u6570\uff0cuart\u901a\u4fe1\u65f6\u662f\u98de\u63a7\u5185\u90e8\u7684\u53c2\u6570\u3002\n\u5929\u7ebf\u95f4\u8ddd\u6d4b\u91cf\u662f\u4e24\u4e2a\u5929\u7ebf\u4e2d\u5fc3\u7684\u95f4\u8ddd\uff0c\u8bbe\u7f6e\u7684\u504f\u5dee\u4e0d\u80fd\u8d85\u8fc72cm\u3002\n\u641c\u661f\u6570\u91cf\u5c11\uff0c\u53ef\u80fd\u536b\u661f\u63a5\u6536\u73af\u5883\u53ef\u80fd\u8f83\u5dee\uff0c\u4f8b\u5982\u5728\u5ba4\u5185\uff0c\u5927\u4ef0\u89d2\u7684\u697c\u95f4\u7b49\n\n\n\n\n\n\n\n\n\u00a0","is_draft":"0","editor_type":"3","file_path":"","add_time":"1745238257","update_time":"1750161638"},"pure_content":"Ardupilot\u8bbe\u7f6e\u6559\u7a0b\n\u4f7f\u7528CAN\u901a\u4fe1\uff08\u5efa\u8bae\uff09\n\u6a21\u5757\u8fde\u63a5\u98de\u63a7\u7684CAN1\/2\u63a5\u53e3\uff0c\u793a\u610f\u56fe\u5982\u4e0b\n\u98de\u63a7\u4f7f\u7528ardupilot4.4.0\u53ca\u66f4\u9ad8\u7248\u672c\u56fa\u4ef6\uff0c\u4f7f\u7528\u4e24\u4e2a\u5929\u7ebf\u6765\u5b9e\u73b0GPS\u5b9a\u5411\u529f\u80fd\uff0c\u8bf7\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a\n\u3010GPS_TYPE\u3011\u8bbe\u7f6e\u4e3a9\uff08AP4.6\u53ca\u4ee5\u4e0a\u7248\u672c\u56fa\u4ef6\u8bbe\u7f6eGPS1_TYPE=9\uff09\n\u3010CAN_P1_DRIVER\u3011\u8bbe\u7f6e\u4e3a1\n\u3010EK3_SRC1_YAW\u3011\u8bbe\u7f6e\u4e3a2\uff08\u4f7f\u7528GPS\u4f5c\u4e3a\u822a\u5411\u6e90\uff09\u6216\u4e3a3\uff08\u4f18\u5148\u4f7f\u7528"},{"id":"437844","string_id":"Vz92ba4H","status":"1","parent_id":"259599","slug":"Vz92ba4H","order":"4","name":"\u4f7f\u7528px4\u56fa\u4ef6","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1747276487","add_time":"1745238300","update_time":"1770296730","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"437844\", \"259599\", \"259228\"]","content":{"content_id":"437844","content":"
PX4\u8bbe\u7f6e\u6559\u7a0b<\/span><\/h2>\n
\u901a\u8fc7\u4e32\u53e3\u901a\u4fe1<\/span><\/h3>\n
\u76ee\u524d\uff0cRTK Ultra\u901a\u8fc7CAN\u901a\u4fe1\u8fd8\u4e0d\u80fd\u8f93\u51fagps yaw\u822a\u5411\u6570\u636e\u7ed9\u98de\u63a7\uff1b<\/span><\/p>\n
\u68c0\u67e5\u56fa\u4ef6\u662f\u5426\u517c\u5bb9\u7684\u65b9\u6cd5\uff1a\u98de\u63a7\u8fde\u63a5QGroundControl\uff0c\u5728\u53c2\u6570\u914d\u7f6e\u754c\u9762\u68c0\u67e5\u6709\u53c2\u6570\u3010SEP_PORT1_CFG\u3011\u8868\u793a\u517c\u5bb9\u7684\u3002<\/em><\/span><\/p>\n
\u76ee\u524dX6\u7cfb\u5217\u98de\u63a7\u5728qgc\u5728\u7ebf\u70e7\u5f55\u7684\u56fa\u4ef6\u8fd8\u672a\u517c\u5bb9\uff0c\u8bf7\u8054\u7cfb\u96f6\u4e00\u98de\u884c\u6280\u672f\u63d0\u4f9b\u517c\u5bb9\u7684\u98de\u63a7\u56fa\u4ef6\u3002<\/em><\/span><\/p>\n
\u53c2\u6570\u914d\u7f6e<\/em><\/span><\/h3>\n
\u5047\u8bbeRTK ULtra\u7684UART\u8fde\u63a5\u98de\u63a7\u7684GPS2\u63a5\u53e3\uff0cRTK Ultra\u4f5c\u4e3a\u4e3bGPS\u4f7f\u7528\uff0c\u5219\u6309\u4ee5\u4e0b\u53c2\u6570\u914d\u7f6e<\/em><\/span><\/p>\n
\n
SEP_PORT1_CFG<\/strong>\u8bbe\u7f6e\u6210GPS2<\/span><\/li>\n
gps_1_config <\/strong>\u8bbe\u7f6e\u6210disabled<\/li>\n
SEP_YAW_OFFS<\/strong>\u8bbe\u7f6e\u504f\u822a\u89d2\u5ea6\uff0c\u82e5\u4e3b\u5929\u7ebf\u5728\u524d\u65b9\uff0c\u5219\u5c06\u822a\u5411\u504f\u79fb\u8bbe\u7f6e\u4e3a0\u3002\u89d2\u5ea6\u6309\u987a\u65f6\u9488\u589e\u52a0\uff0c\u56e0\u6b64\u5982\u679c\u4e3b\u5929\u7ebf\u5728\u8f66\u8f86\u53f3\u4fa7\uff0c\u526f\u5929\u7ebf\u5728\u5de6\u4fa7\uff0c\u5219\u5c06\u504f\u79fb\u8bbe\u7f6e\u4e3a90\u5ea6\u3002<\/li>\n<\/ul>\n
RTK\u822a\u5411\u786e\u8ba4<\/h3>\n
\u5728Analyze Tools\u7684mavlink \u76d1\u6d4b\u754c\u9762\u68c0\u67e5GPS_RAW_INT\u7684yaw\u6570\u636e\uff0c\u548c\u98de\u63a7\u673a\u5934\u6307\u5411\u4e00\u81f4\u5219\u8868\u793aGPS_YAW_OFFSET\u8bbe\u7f6e\u6b63\u786e\u3002<\/p>\n
<\/p>\n
GLOBAL_POSITION_INT\u7684hdg\u6570\u503c\u548cGPS_RAW_INT\u7684yaw\u6570\u503c\u4e00\u81f4\u8868\u793a\u98de\u673a\u822a\u5411\u7528RTK\u7684\u65b9\u5411\u6570\u636e.<\/p>\n
<\/span><\/p>\n
<\/p>\n
<\/p>\n
<\/p>\n
<\/p>\n
<\/p>\n
<\/p>\n
<\/p>","pure_content":"PX4\u8bbe\u7f6e\u6559\u7a0b\n\u901a\u8fc7\u4e32\u53e3\u901a\u4fe1\n\u76ee\u524d\uff0cRTK Ultra\u901a\u8fc7CAN\u901a\u4fe1\u8fd8\u4e0d\u80fd\u8f93\u51fagps yaw\u822a\u5411\u6570\u636e\u7ed9\u98de\u63a7\uff1b\n\u68c0\u67e5\u56fa\u4ef6\u662f\u5426\u517c\u5bb9\u7684\u65b9\u6cd5\uff1a\u98de\u63a7\u8fde\u63a5QGroundControl\uff0c\u5728\u53c2\u6570\u914d\u7f6e\u754c\u9762\u68c0\u67e5\u6709\u53c2\u6570\u3010SEP_PORT1_CFG\u3011\u8868\u793a\u517c\u5bb9\u7684\u3002\n\u76ee\u524dX6\u7cfb\u5217\u98de\u63a7\u5728qgc\u5728\u7ebf\u70e7\u5f55\u7684\u56fa\u4ef6\u8fd8\u672a\u517c\u5bb9\uff0c\u8bf7\u8054\u7cfb\u96f6\u4e00\u98de\u884c\u6280\u672f\u63d0\u4f9b\u517c\u5bb9\u7684\u98de\u63a7\u56fa\u4ef6\u3002\n\u53c2\u6570\u914d\u7f6e\n\u5047\u8bbeRTK ULtra\u7684UART\u8fde\u63a5\u98de\u63a7\u7684GPS2\u63a5\u53e3\uff0cRTK Ultra\u4f5c\u4e3a\u4e3bGPS\u4f7f\u7528\uff0c\u5219\u6309\u4ee5\u4e0b\u53c2\u6570\u914d\u7f6e\n\nSEP_PORT1_CFG\u8bbe\u7f6e\u6210GPS2\ngps_1_config \u8bbe\u7f6e\u6210disabled\nSEP_YAW_OFFS\u8bbe\u7f6e\u504f\u822a\u89d2\u5ea6\uff0c\u82e5\u4e3b\u5929\u7ebf\u5728\u524d\u65b9\uff0c\u5219\u5c06\u822a\u5411\u504f\u79fb\u8bbe\u7f6e\u4e3a0\u3002\u89d2\u5ea6\u6309\u987a\u65f6\u9488\u589e\u52a0\uff0c\u56e0\u6b64\u5982\u679c\u4e3b\u5929\u7ebf\u5728\u8f66\u8f86\u53f3\u4fa7\uff0c\u526f\u5929\u7ebf\u5728\u5de6\u4fa7\uff0c\u5219\u5c06\u504f\u79fb\u8bbe\u7f6e\u4e3a90\u5ea6\u3002\n\nRTK\u822a\u5411\u786e\u8ba4\n\u5728Analyze Tools\u7684mavlink \u76d1\u6d4b\u754c\u9762\u68c0\u67e5GPS_RAW_INT\u7684yaw\u6570\u636e\uff0c\u548c\u98de\u63a7\u673a\u5934\u6307\u5411\u4e00\u81f4\u5219\u8868\u793aGPS_YAW_OFFSET\u8bbe\u7f6e\u6b63\u786e\u3002\n\nGLOBAL_POSITION_INT\u7684hdg\u6570\u503c\u548cGPS_RAW_INT\u7684yaw\u6570\u503c\u4e00\u81f4\u8868\u793a\u98de\u673a\u822a\u5411\u7528RTK\u7684\u65b9\u5411\u6570\u636e.\n\n\u00a0\n\u00a0\n\u00a0\n\u00a0\n\u00a0\n\u00a0\n\u00a0","is_draft":"0","editor_type":"3","file_path":"","add_time":"1745238300","update_time":"1770296730"},"pure_content":"PX4\u8bbe\u7f6e\u6559\u7a0b\n\u901a\u8fc7\u4e32\u53e3\u901a\u4fe1\n\u76ee\u524d\uff0cRTK Ultra\u901a\u8fc7CAN\u901a\u4fe1\u8fd8\u4e0d\u80fd\u8f93\u51fagps yaw\u822a\u5411\u6570\u636e\u7ed9\u98de\u63a7\uff1b\n\u68c0\u67e5\u56fa\u4ef6\u662f\u5426\u517c\u5bb9\u7684\u65b9\u6cd5\uff1a\u98de\u63a7\u8fde\u63a5QGroundControl\uff0c\u5728\u53c2\u6570\u914d\u7f6e\u754c\u9762\u68c0\u67e5\u6709\u53c2\u6570\u3010SEP_PORT1_CFG\u3011\u8868\u793a\u517c\u5bb9\u7684\u3002\n\u76ee\u524dX6\u7cfb\u5217\u98de\u63a7\u5728qgc\u5728\u7ebf\u70e7\u5f55\u7684\u56fa\u4ef6\u8fd8\u672a\u517c\u5bb9\uff0c\u8bf7\u8054\u7cfb\u96f6\u4e00\u98de\u884c\u6280\u672f\u63d0\u4f9b\u517c\u5bb9\u7684\u98de\u63a7\u56fa\u4ef6\u3002\n\u53c2\u6570\u914d\u7f6e\n\u5047\u8bbeRTK ULtra\u7684UART\u8fde\u63a5\u98de\u63a7\u7684GPS2\u63a5\u53e3\uff0cRTK"},{"id":"443565","string_id":"Pju5VC07","status":"1","parent_id":"259599","slug":"Pju5VC07","order":"3","name":"\u642d\u5efa\u5730\u9762\u57fa\u51c6\u7ad9","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1747276485","add_time":"1745583404","update_time":"1770296660","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"443565\", \"259599\", \"259228\"]","content":{"content_id":"443565","content":"
\u7528\u4f5c\u57fa\u51c6\u7ad9<\/h2>\n
\n
\u9996\u5148\u5c06\u914d\u7f6e\u6587\u4ef6\u4ece\u6211\u4eec\u7684\u7f51\u7ad9\u6839\u636e\u57fa\u672c\u7c7b\u578b\u4e0b\u8f7d\u5230\u672c\u5730\u8ba1\u7b97\u673a\uff1amosaic-H_Current_moving_base.txt \uff08\u79fb\u52a8\u7ad9\uff09<\/li>\n
\u901a\u8fc7USB-TYPEC\u7aef\u53e3\u5c06\u6a21\u5757\u8fde\u63a5\u5230\u7535\u8111\uff0c\u6253\u5f00\u4efb\u610fWeb\u6d4f\u89c8\u5668\uff0c\u5728\u5730\u5740\u680f\u8f93\u5165192.168.3.1\uff0c\u6253\u5f00OneRTK Ultra\u914d\u7f6e\u9875\u9762\uff0c\u5982\u4e0b<\/li>\n
\u70b9\u51fb Admin->Configurations \u8fdb\u5165\u914d\u7f6e\u9875\u9762<\/li>\n<\/ul>\n
<\/p>\n
\n
\u5355\u51fb Upload Configuration \u56fe\u6807\u4e0a\u4f20\u914d\u7f6e\u6587\u4ef6<\/li>\n<\/ul>\n
<\/p>\n
\n
\u5355\u51fb“\u786e\u5b9a”\uff0c\u7136\u540e\u5355\u51fb“\u4fdd\u5b58”\u6309\u94ae\u4fdd\u5b58\u914d\u7f6e<\/li>\n<\/ul>\n
<\/p>\n
\n
\u70b9\u51fb Admin->Reset \u8fdb\u5165\u91cd\u7f6e\u9875\u9762\uff0c\u9009\u62e9 Soft \u5e76\u70b9\u51fb OK \u91cd\u542f\u3002\u60a8\u8fd8\u53ef\u4ee5\u62d4\u4e0b USB \u7535\u7f06\u5e76\u6267\u884c\u5173\u673a\u91cd\u542f\u3002<\/li>\n<\/ul>\n
<\/p>\n
\u5c06\u57fa\u7ad9\u653e\u7f6e\u5728\u7a7a\u65f7\u7684\u5730\u65b9\uff0c\u70b9\u51fb GNSS->Satellites and Signals \u9875\u9762\u67e5\u770b\u536b\u661f\u641c\u7d22\u72b6\u6001\u3002\u5728 Tracking \u548c Position \u503c\u7a33\u5b9a\u540e\uff08\u5982\u4e0b\u6240\u793a\uff09\uff0cRTCM \u6570\u636e\u53ef\u4ee5\u901a\u8fc7\u5730\u9762\u7ad9\u8f6c\u53d1\u3002<\/p>\n
<\/p>\n
\u901a\u8fc7 MissionPlanner \u5b9e\u65bd RTK<\/h2>\n
\u901a\u8fc7 USB \u7aef\u53e3\u5c06 OneRTK Ultra GPS \u8fde\u63a5\u5230\u8ba1\u7b97\u673a\u3002OneRTK Ultra \u8fde\u63a5\u5230\u8ba1\u7b97\u673a\u540e\uff0c\u5c06\u6709\u4e24\u4e2a\u865a\u62df USB COM \u7aef\u53e3\u3002\u865a\u62df USB COM \u7aef\u53e3 1 \u5bf9\u5e94\u64cd\u4f5c\u754c\u9762\u4e2d\u7684 USB1\uff0c\u865a\u62df USB COM \u7aef\u53e3 2 \u5bf9\u5e94 USB2\u3002\u901a\u5e38\u6211\u4eec\u4f7f\u7528 USB1 \u4f20\u8f93 NMEA\/GGA \u7b49\u6570\u636e\uff0c\u7136\u540e\u5728 USB2 \u4e0a\u8f93\u51faRTCM \u6570\u636e\u3002<\/p>\n
\n
\u9996\u5148\u8fdb\u5165\u7535\u8111\u8bbe\u5907\u7ba1\u7406\u5668 view USB2\u5bf9\u5e94\u7684COM\u53e3<\/li>\n<\/ul>\n
<\/p>\n
\n
\u5728 missionPlanner-> SETUP-> Optional Hardware-> RTK\/GPS Inject \u9875\u9762\u4e0a\uff0c\u8fde\u63a5\u5e76\u9009\u62e9\u4e0e Mosaic-H \u865a\u62df USB COM Port2 \u5bf9\u5e94\u7684 COM \u7aef\u53e3\uff0c\u7136\u540e\u5355\u51fb\u8fde\u63a5\u3002\uff08\u8bf7\u6ce8\u610f\uff0cUBlox M8P\/F9P \u81ea\u52a8\u914d\u7f6e\u65e0\u6cd5\u9009\u4e2d\uff09<\/li>\n<\/ul>\n
<\/p>\n
\n
\u5f53 OneRTK Ultra \u7528\u4f5c\u57fa\u7ad9\u65f6\uff0c\u5b83\u4f1a\u6839\u636e\u4fe1\u53f7\u8d28\u91cf\u81ea\u52a8\u9009\u62e9\u5408\u9002\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u65e0\u9700\u8bbe\u7f6e\u7cbe\u5ea6\u548c\u6d4b\u91cf\u65f6\u95f4\u3002<\/li>\n
\u5f53 RTCM \u5217\u4e2d\u7684 Base\u3001Gps\u3001Glonass\u3001\u5317\u6597\u548c Galieo \u56fe\u6807\u5168\u90e8\u53d8\u4e3a\u7eff\u8272\u65f6\uff0c\u5730\u9762\u7ad9\u5f00\u59cb\u901a\u8fc7\u6570\u5b57\u4f20\u8f93\u5c06 RTCM \u6570\u636e\u53d1\u9001\u7ed9\u98de\u63a7\u3002<\/li>\n
\u70b9\u51fb MissionPlanner->DATA \u9875\u9762\uff0c\u53ef\u4ee5\u770b\u5230\u706b\u661f\u8f66\u4fa7\u5df2\u7ecf\u88ab RTK-Fixed\u3002\uff08\u6d41\u52a8\u7ad9\u4fa7\u53ef\u4f7f\u7528 F9P \u6216 OneRTK Ultra\uff09<\/li>\n<\/ul>\n
<\/p>\n
\n
\u73b0\u5728\u56de\u5230<\/span> OneRTK Ultra \u914d\u7f6e\u9875\u9762\uff0c\u70b9\u51fb NMEA\/SBF Out \u9875\u9762\uff0c\u53ef\u4ee5\u770b\u5230 USB2 \u7aef\u53e3\u5df2\u7ecf\u5f00\u59cb\u8f93\u51fa RTCM \u6570\u636e\u6d41\u4e86\u3002<\/li>\n<\/ul>","pure_content":"\u7528\u4f5c\u57fa\u51c6\u7ad9\n\n\u9996\u5148\u5c06\u914d\u7f6e\u6587\u4ef6\u4ece\u6211\u4eec\u7684\u7f51\u7ad9\u6839\u636e\u57fa\u672c\u7c7b\u578b\u4e0b\u8f7d\u5230\u672c\u5730\u8ba1\u7b97\u673a\uff1amosaic-H_Current_moving_base.txt \uff08\u79fb\u52a8\u7ad9\uff09\n\u901a\u8fc7USB-TYPEC\u7aef\u53e3\u5c06\u6a21\u5757\u8fde\u63a5\u5230\u7535\u8111\uff0c\u6253\u5f00\u4efb\u610fWeb\u6d4f\u89c8\u5668\uff0c\u5728\u5730\u5740\u680f\u8f93\u5165192.168.3.1\uff0c\u6253\u5f00OneRTK Ultra\u914d\u7f6e\u9875\u9762\uff0c\u5982\u4e0b\n\u70b9\u51fb Admin->Configurations \u8fdb\u5165\u914d\u7f6e\u9875\u9762\n\n\n\n\u5355\u51fb Upload Configuration \u56fe\u6807\u4e0a\u4f20\u914d\u7f6e\u6587\u4ef6\n\n\n\n\u5355\u51fb\u201c\u786e\u5b9a\u201d\uff0c\u7136\u540e\u5355\u51fb\u201c\u4fdd\u5b58\u201d\u6309\u94ae\u4fdd\u5b58\u914d\u7f6e\n\n\n\n\u70b9\u51fb Admin->Reset \u8fdb\u5165\u91cd\u7f6e\u9875\u9762\uff0c\u9009\u62e9 Soft \u5e76\u70b9\u51fb OK \u91cd\u542f\u3002\u60a8\u8fd8\u53ef\u4ee5\u62d4\u4e0b USB \u7535\u7f06\u5e76\u6267\u884c\u5173\u673a\u91cd\u542f\u3002\n\n\n\u5c06\u57fa\u7ad9\u653e\u7f6e\u5728\u7a7a\u65f7\u7684\u5730\u65b9\uff0c\u70b9\u51fb GNSS->Satellites and Signals \u9875\u9762\u67e5\u770b\u536b\u661f\u641c\u7d22\u72b6\u6001\u3002\u5728 Tracking \u548c Position \u503c\u7a33\u5b9a\u540e\uff08\u5982\u4e0b\u6240\u793a\uff09\uff0cRTCM \u6570\u636e\u53ef\u4ee5\u901a\u8fc7\u5730\u9762\u7ad9\u8f6c\u53d1\u3002\n\u00a0\n\u901a\u8fc7 MissionPlanner \u5b9e\u65bd RTK\n\u901a\u8fc7 USB \u7aef\u53e3\u5c06 OneRTK Ultra GPS \u8fde\u63a5\u5230\u8ba1\u7b97\u673a\u3002OneRTK Ultra \u8fde\u63a5\u5230\u8ba1\u7b97\u673a\u540e\uff0c\u5c06\u6709\u4e24\u4e2a\u865a\u62df USB COM \u7aef\u53e3\u3002\u865a\u62df USB COM \u7aef\u53e3 1 \u5bf9\u5e94\u64cd\u4f5c\u754c\u9762\u4e2d\u7684 USB1\uff0c\u865a\u62df USB COM \u7aef\u53e3 2 \u5bf9\u5e94 USB2\u3002\u901a\u5e38\u6211\u4eec\u4f7f\u7528 USB1 \u4f20\u8f93 NMEA\/GGA \u7b49\u6570\u636e\uff0c\u7136\u540e\u5728 USB2 \u4e0a\u8f93\u51faRTCM \u6570\u636e\u3002\n\n\u9996\u5148\u8fdb\u5165\u7535\u8111\u8bbe\u5907\u7ba1\u7406\u5668 view USB2\u5bf9\u5e94\u7684COM\u53e3\n\n\n\n\u5728 missionPlanner-> SETUP-> Optional Hardware-> RTK\/GPS Inject \u9875\u9762\u4e0a\uff0c\u8fde\u63a5\u5e76\u9009\u62e9\u4e0e Mosaic-H \u865a\u62df USB COM Port2 \u5bf9\u5e94\u7684 COM \u7aef\u53e3\uff0c\u7136\u540e\u5355\u51fb\u8fde\u63a5\u3002\uff08\u8bf7\u6ce8\u610f\uff0cUBlox M8P\/F9P \u81ea\u52a8\u914d\u7f6e\u65e0\u6cd5\u9009\u4e2d\uff09\n\n\n\n\u5f53 OneRTK Ultra \u7528\u4f5c\u57fa\u7ad9\u65f6\uff0c\u5b83\u4f1a\u6839\u636e\u4fe1\u53f7\u8d28\u91cf\u81ea\u52a8\u9009\u62e9\u5408\u9002\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u65e0\u9700\u8bbe\u7f6e\u7cbe\u5ea6\u548c\u6d4b\u91cf\u65f6\u95f4\u3002\n\u5f53 RTCM \u5217\u4e2d\u7684 Base\u3001Gps\u3001Glonass\u3001\u5317\u6597\u548c Galieo \u56fe\u6807\u5168\u90e8\u53d8\u4e3a\u7eff\u8272\u65f6\uff0c\u5730\u9762\u7ad9\u5f00\u59cb\u901a\u8fc7\u6570\u5b57\u4f20\u8f93\u5c06 RTCM \u6570\u636e\u53d1\u9001\u7ed9\u98de\u63a7\u3002\n\u70b9\u51fb MissionPlanner->DATA \u9875\u9762\uff0c\u53ef\u4ee5\u770b\u5230\u706b\u661f\u8f66\u4fa7\u5df2\u7ecf\u88ab RTK-Fixed\u3002\uff08\u6d41\u52a8\u7ad9\u4fa7\u53ef\u4f7f\u7528 F9P \u6216 OneRTK Ultra\uff09\n\n\n\n\u73b0\u5728\u56de\u5230 OneRTK Ultra \u914d\u7f6e\u9875\u9762\uff0c\u70b9\u51fb NMEA\/SBF Out \u9875\u9762\uff0c\u53ef\u4ee5\u770b\u5230 USB2 \u7aef\u53e3\u5df2\u7ecf\u5f00\u59cb\u8f93\u51fa RTCM \u6570\u636e\u6d41\u4e86\u3002","is_draft":"0","editor_type":"3","file_path":"","add_time":"1745583404","update_time":"1770296660"},"pure_content":"\u7528\u4f5c\u57fa\u51c6\u7ad9\n\n\u9996\u5148\u5c06\u914d\u7f6e\u6587\u4ef6\u4ece\u6211\u4eec\u7684\u7f51\u7ad9\u6839\u636e\u57fa\u672c\u7c7b\u578b\u4e0b\u8f7d\u5230\u672c\u5730\u8ba1\u7b97\u673a\uff1amosaic-H_Current_moving_base.txt \uff08\u79fb\u52a8\u7ad9\uff09\n\u901a\u8fc7USB-TYPEC\u7aef\u53e3\u5c06\u6a21\u5757\u8fde\u63a5\u5230\u7535\u8111\uff0c\u6253\u5f00\u4efb\u610fWeb\u6d4f\u89c8\u5668\uff0c\u5728\u5730\u5740\u680f\u8f93\u5165192.168.3.1\uff0c\u6253\u5f00OneRTK Ultra\u914d\u7f6e\u9875\u9762\uff0c\u5982\u4e0b\n\u70b9\u51fb Admin->Configurations \u8fdb\u5165\u914d\u7f6e\u9875\u9762\n\n\n\n\u5355\u51fb Upload Configur"}],"content":{"icon":"","desc":"","content_id":"259599","add_time":"1735035450","update_time":"1744353104","content":"","is_traffic_less":"0","file_type":""},"hot_list":[],"user_read_num":"0","is_auth":"0"},"msg":"Success","code":200}

\u63a5\u53e3\u5b9a\u4e49<\/h2>\n<\/p>\n

\u4ea7\u54c1\u5c3a\u5bf8\u4e0e\u5b54\u8ddd<\/h2>\n<\/p>\n

Ardupilot\u8bbe\u7f6e\u6559\u7a0b<\/h2>\n

\u63a5\u53e3\u5b9a\u4e49<\/h2>\n
<\/p>\n

\u4ea7\u54c1\u5c3a\u5bf8\u4e0e\u5b54\u8ddd<\/h2>\n
<\/p>\n