Draft Decision: Better RTK

\uD83D\uDCDA Relevant data

This decision matrix is derived from this document : Better RTK GPUS support for Ardupilot

\uD83D\uDCD8 Background

L1, L2 and L5

Our end-goal is to be able to locate our drone while the module maintains safe, consistent fixes.

Most RTK solutions support L1/L2. The L1 signal uses the frequency 1575.42 MHz, while L2 signal uses the frequency of 1227.60 MHz. Higher frequencies allow the signal to travel through obstacles such as cloud cover, trees, and buildings better. However, since L1 is the oldest signal out in the field of GPS, one can say that even the cheapest GPS is capable of supporting it. L5 is lot newer than L1 and L2. It is the most advanced signal but not every GPS supports it.

It is important to keep in mind that when choosing GPSs for base station and rover (drone), we need to ensure both support the same frequency bands. If, for example, drone supports L1, L5 and base supports only L1; we are effectively handicapping the drone to just L1. RTK requires common frequency bands for performing the computation. If using L1, L2 on drone and L1 ,L2 on base; both the bands are tracked by the drone and RTK will be able to perform at dual frequency and better performance.

Existing support

Currently our drone is supported by NEO M8 GPS manufactured by Team Blacksheep. We are currently attempting to source another GPS from VectorNav for a VN-200 rugged dev kit through sponsorship.

M8P vs F9P

ZED vs NEO

🚨 NEO Options

👾 ZED Options

\uD83C\uDF1F Recommendations

✅ Outcome

🗒️ Changelog