Survey in on LC29HEA completes instantly?

Lars_Englund · November 12, 2024, 7:08pm

Hi! I’m trying to do a survey in on a LC29HEA.
I have sent these commands:

$PQTMRESTOREPAR13 # restore PQTM params to default and reset
$PQTMCFGRCVRMODE,W,229 # set receiver to base mode
$PQTMSAVEPAR*5A # save PQTM params to flash

manually power cycle module
$PAIR432,122 # output RTCM3 MSM7 messages
$PAIR434,124 # output RTCM3 antenna position (1005)
$PAIR062,0,010F # Enable NMEA GGA message
$PQTMCFGSVIN,W,1,100,15,0,0,017 # Survey in with 100 samples and 15 meter (will run it for 24 hours when I get it working)

But it just returns this instantly:

$PQTMSVINSTATUS,1,241538000.0,2,11,1,0,3023827.6648,844579.2898,5533559.2635,1.8003*3D

Do I need to reset it somehow to get the survey in working or am I missing some command?

Lars_Englund · November 12, 2024, 7:28pm

This is my firmware:
W->
HEX: 24 50 51 54 4d 56 45 52 4e 4f 2a 35 38 0d 0a
String: $PQTMVERNO*58

$PQTMVERNO,LC29HEANR11A03S_RSA,2023/10/31,16:52:14*2B

Lars_Englund · November 12, 2024, 7:44pm

So I trimmed down the ammount of command by one, this is what I’m running now to start the survey in, but it just returns complete instantly, what am I doing wrong?

$PQTMRESTOREPAR13 # restore PQTM params to default and reset
$PQTMCFGRCVRMODE,W,229 # set receiver to base mode
$PQTMSAVEPAR*5A # save PQTM params to flash

(manually power cycle module)

$PAIR432,122 # output RTCM3 MSM7 messages
$PAIR434,124 # output RTCM3 antenna position (1005)
$PAIR513*3D # Keep configuration

(manually power cycle module)

String: $PQTMCFGMSGRATE,W,PQTMSVINSTATUS,1,1*58

$PQTMCFGMSGRATE,OK*29

$PQTMSVINSTATUS,1,243564000.0,2,11,1,0,3023829.1438,844581.0102,5533556.5023,1.8576*3B

$PQTMSVINSTATUS,1,243565000.0,2,11,1,0,3023829.1145,844581.0062,5533556.5382,2.0147*37

W->

HEX: 24 50 51 54 4d 43 46 47 53 56 49 4e 2c 57 2c 31 2c 33 30 30 2c 31 35 2c 30 2c 30 2c 30 2a 31 35 0d 0a

String: $PQTMCFGSVIN,W,1,300,15,0,0,0*15

$PQTMCFGSVIN,OK*70

$PQTMSVINSTATUS,1,243573000.0,2,11,1,0,3023829.3107,844580.6991,5533557.3847,1.9121*39

$PQTMSVINSTATUS,1,243574000.0,2,11,1,0,3023829.4088,844580.6750,5533557.6831,1.8499*3F

W->

HEX: 24 50 51 54 4d 53 41 56 45 50 41 52 2a 35 41 0d 0a

String: $PQTMSAVEPAR*5A

$PQTMSAVEPAR,OK*72

$PQTMSVINSTATUS,1,243575000.0,2,11,1,0,3023829.5285,844580.6328,5533557.9317,1.8076*3E

bamarcant · November 12, 2024, 8:04pm

Set the Survey-In observation :
$PQTMCFGSVIN,W,1,3600,15,0,0,0*15 for 3600 seconds
$PQTMCFGSVIN,W,1,84600,15,0,0,0*1C for 24 hours…
#Get the observation result

$PQTMCFGSVIN,R*26
$PQTMCFGMSGRATE,W,PQTMSVINSTATUS,1,1*58
$PQTMCFGMSGRATE,W,PQTMSVINSTATUS,0,1*59

#Set the base in ecef   $PQTMCFGSVIN,W,2,0,0,x,y,z*<Checksum>
$PAIR382,1*2E ==> Lock  System will not entry sleep.
$PAIR003*39  gnss stop
`$PAIR511*3F  $PQTMSAVEPAR*5A  $PAIR513*3D`  (at once)
$PAIR023*3B  reboot
$PAIR003*39  gnss stop
$PAIR434,1*24 ==> set RTCM3.x output with message type 1005
$PAIR436,1*26 ==> set RTCM3.x output with satellite ephemeris
$PAIR432,1*22 ==> set RTCM3.x output with type MSM7
$PAIR511*3F  $PQTMSAVEPAR*5A  $PAIR513*3D

$PAIR002*38 gnss start (if reboot will loose RTCM3.x output with type MSM7 for default MSM4

Lars_Englund · November 13, 2024, 7:35pm

I tried 3600s but it still instantly returns a survey in status of 2 (completed)…

Lars_Englund · November 13, 2024, 8:01pm

Just to clarify, I press the button to calculate the checksums before I sent the packets, I just didn’t always copy the checksums when I posted my sequence of packets here. So missing or incorrect checksum is not an issue, I get a positive acknowledgement for every packet.

Is there some “master” reset command not in the manual? Do I need to configure something differently? Is it supposed to return success immediately?

I thought it was supposed to show the number of samples and a counter that counted up to that value and when the counter has reached the number of samples set by PQTMCFGSVIN and the 3D position is within the set limit it will return success (a 2 in the third field of PQTMSVINSTATUS). Is this correct?

bamarcant · November 14, 2024, 1:55pm

Hi Lars, you are absolutely right; I tried to replicate and I observed that it does not always start counting, sometimes it counts with empty ecef, other times with final count and ecef in place.
The only thing you can look at is the precision in meters at the end of the string. For a better result it would be advisable to inject RTCM corrections if available, otherwise you have to look at which result is better in terms of accuracy.
Here another explanation Float RTK mode to fixed RTK using LC29HBS and LC29HDA - #2 by george.gao
To replicate what I did:

$PAIR382,1*2E → Test command for lock system sleep enabled
$PAIR003*39 → power off GNSS system
$PAIR514*3A  Clear the current configuration and restore the default settings set via $PAIR
$PAIR512*3C  clear all data
$PQTMRESTOREPAR*13 # restore $PQTM params to default
$PQTMSAVEPAR*5A
$PAIR023*3B   reboot  module
$PQTMGNSSSTOP*09  same of power off GNSS system
$PQTMCFGRCVRMODE,W,2*29   # set receiver to base mode
$PQTMCFGNMEADP,W,3,8,3,3,3,3*39 ; Max decimal places for all nmea string
$PQTMSAVEPAR*5A
$PAIR023*3B   reboot  module
Set the Survey-In observation  only one of these
PQTMCFGSVIN,W,1,300,15,0,0,0*15
$PQTMCFGSVIN,W,1,3600,15,0,0,0*23
$PQTMCFGSVIN,W,1,3600,1,0,0,0*16
$PQTMCFGSVIN,W,1,1200,15,0,0,0*25
$PQTMCFGSVIN,W,1,1200,1,0,0,0*10
$PQTMSAVEPAR*5A

Look at $PQTMCFGSVIN,OK*70
Get confirm of command sent $PQTMCFGSVIN,R*26 
Look at  $PQTMCFGSVIN,OK,1,3600,15.0
Enable the Survey-In observation results
$PQTMCFGMSGRATE,W,PQTMSVINSTATUS,1,1*58
Look at <MeanAcc>  survey-in mean position accuracy in metres/meters
$PQTMSVINSTATUS,1,383462000.0,2,,55,1,0,X.8019,Y.8467,Z.4197,0.1108*0D                                                                    
Disable the Survey-In observation results
$PQTMCFGMSGRATE,W,PQTMSVINSTATUS,0,1*59                                          

$PQTMGNSSSTOP*09
$PQTMCFGSVIN,R*26 check if ecef base is correct
$PAIR434,1*24 ==> set RTCM3.x output with message type 1005
$PAIR436,1*26 ==> set RTCM3.x output with satellite ephemeris
$PQTMSAVEPAR*5A
$PAIR023*3B
$PAIR432,1*22 ==> set RTCM3.x output with type MSM7
$PAIR062,0,1*3F  turn on GGA nmea

The last two do not save at reboot
Some log_result

$PQTMSVINSTATUS,1,391263000.0,1,,01,0,3600,0.0000,0.0000,0.0000,0.0000*34
$PQTMSVINSTATUS,1,388316000.0,1,,11,76,300,X704512.5236,Y298188.6742,Z093136.1610,2.7281*3C
$PQTMSVINSTATUS,1,389848000.0,0,,01,0,300,0.0000,0.0000,0.0000,0.0000*09
$PQTMSVINSTATUS,1,390049000.0,1,,11,199,300,X4516.0308,Y298190.2886,Z093137.0697,2.3476*0E
$PQTMSVINSTATUS,1,390656000.0,2,,15,300,300,X704516.0465,Y298190.2898,Z093137.1185
PQTMSVINSTATUS,1,0.0,0,,00,0,3600,0.0000,0.0000,0.0000,0.0000*38
For fix base in ecef:

#Set the base in ecef   $PQTMCFGSVIN,W,2,0,0,x,y,z*<Checksum>
 $PQTMCFGSVIN,W,2,0,0,X704517.8019,Y298190.8467,Z093137.4197*0C

$PQTMCFGSVIN,W,2,0,0,X704517.8019,Y298190.8467,Z093137.4197*cheksum
Regards

Lars_Englund · November 16, 2024, 7:46am

Hi, thanks for the quick reply!

I went through your commands and after sending:

$PQTMCFGSVIN,W,1,3600,15,0,0,0*23

I thought it was working because I got this:

$PQTMSVINSTATUS,1,544263093.0,0,00,1,0,0.0000,0.0000,0.0000,0.000004
$PQTMSVINSTATUS,1,544260233.0,0,00,1,0,0.0000,0.0000,0.0000,0.00000F
$PQTMSVINSTATUS,1,544261093.0,0,00,1,0,0.0000,0.0000,0.0000,0.0000*06

But after only a few seconds it started outputting this instead:

$PQTMSVINSTATUS,1,544294000.0,2,11,1,0,3023834.8763,844581.4251,5533565.3357,3.333839
$PQTMSVINSTATUS,1,544295000.0,2,11,1,0,3023833.8585,844580.9418,5533563.4073,2.684533
$PQTMSVINSTATUS,1,544296000.0,2,11,1,0,3023833.4259,844580.8142,5533563.2644,2.5766*38

So back to instantly completing

Can I just let the survey in continue to run anyway and copy the x,y,z from the PQTMSVINSTATUS after 24 hrs or will that vale not be good? How do I know it I have a good survey in value that I can use to get a fixed RTK position on my ohter LC29HEA module?
Is the “Fix” field not supposed to say fixed for the base station if its good?

bamarcant · November 16, 2024, 10:14am

Hi Lars,

Look at <MeanAcc>  survey-in mean position accuracy in metres...

in your case the value is e.g. 2.5766 m too bad for a base fix.

need a lower mean one e.g.

But the best method is to log the RTCM output for 24h and convert to rinex obs file for a PPP fix.

Use STRSVR to log the lc29hea rtcm output then convert with RTKCONV and zip the file.obs…

Here an explanation:

Make a registration to :

the canadian service send a mail with precise position…

Regards
Marco

splee · November 17, 2024, 4:03am

Do you need Absolute or Relative Positioning accuracy? If you only need Relative Positioning, then your Base station’s absolute position can be up to 3m off and you will still achieve RTK Fix, with full relative positioning accuracy. This mode works fine for drone, robot lawn mower, or agricultural applications.

If you need absolute positioning accuracy for survey purposes, then you have no option but to try and obtain the most accurate position. Options are:

Survey in method, which seems buggy in your case.
Capturing raw RTCM data from your module and converting them to RINEX format, and send them off for post processing, as Marco suggests above.
If you can get temporary access to an accurate Base station nearby via NTRIP, you can then map your antenna position with a full RTK fix using your module in Rover mode, and then enter that position into the module as a FIXED $PQTMCFGSVIN configuration in Base Station mode.

Lars_Englund · November 19, 2024, 6:46pm

Hi, I am going to use it for both surveying and correction to a rover so I would like to try and get the most accurate position.
I tried capturing 24hrs of RTCM data with STRSVR and uploaded it to the canadian site. I got back this response:

|dump.obs||GPS & GLONASS|NRCan Ultra-rapid||
||Warning : No antenna type RINEX header record was found. Phase Centre Offsets and Variation could not be applied. Estimated height should be used with caution.|
||Warning : Your dataset cannot be processed using ambiguity resolution (PPP-AR) because it only contains GLONASS data or single-frequency GPS data. No GLONASS products for ambiguity resolution are available at this time. |
||Warning : Your dataset cannot be processed using ambiguity resolution (PPP-AR) because it only contains GLONASS data or single-frequency GPS data. No GLONASS products for ambiguity resolution are available at this time.

Does that mean I have configured the receiver incorrectly before capturing the data? If so what configuration should I use?

splee · November 20, 2024, 2:04am

By default, when you reset to factory using $PQTMRESTOREPAR*13, and then configure to Base mode, all constellations should be enabled. Can you see all RTCM 107x, 108x, 109x and 112x messages in QConsole Message Statistics, like below?

The warning message you got from the canadian PPP site seems to indicate you only have RTCM data from GPS (107x) and GLONASS (108x), with no Gallleo (109x) or Beidou (112x) messages. And also, since the LC29HEA is only L1 and L5 capable, it is not able to receive the GPS L2 band, which the canadian site appears to want in order to process the data.

Do you really have no option to get an RTK FIx from another Base station? To be honest, I’ve done the Rinex PPP method and the post processed location wasn’t that accurate compared to using a fixed Base station…

Lars_Englund · November 20, 2024, 7:57pm

Looks the same:

I will try to capture another 24hrs and upload again.. can something go wrong when converting it to obs?

I got these results from the canadian site the first time:

|Cartesian coordinates|
|X|3023829.508|± 0.745 m (95%)|
|Y|844579.429|± 0.706 m (95%)|
|Z|5533558.070|± 0.965 m (95%)|

splee · November 20, 2024, 8:55pm

To be fair, I did not generate my RINEX data from the LC29HEA, I used a ZED F9P. So I’m not sure what the difference is, other than the F9P has L2 information. However, in my summary results with the ZED F9P RINEX data, there was this info:

And when I looked in the output pdf, with the charts, they only show GPS and GLONASS satellites as well. So maybe this processor requires and only processes data from GPS L1/L2 and GLONASS…

On another note, I see you are in Sweden, and this provider provides Network RTK services, with a Base station near you. They have a 10 day free trial subscription…

splee · November 20, 2024, 10:55pm

At least in my version, the default options for rtkconv.exe was only for GPS and GLONASS. Guess we have to select Galileo and Beidou… I just did that and submitted a small file from my LC29HEA for processing…

splee · November 21, 2024, 2:49am

Didn’t make a difference. I got the same error as you did…

Sign up for that free 10 day trial

Lars_Englund · November 21, 2024, 10:02pm

Well, after the free trial its over $1000 per year so my plan was to make a permanent installation and contribute to rtk2go as a ntrip server. So I want to try to get the best possible base station so others can benefit from it for free!

splee · November 21, 2024, 10:16pm

Yes, I was suggesting to use the free trial just to get an RTK Fix accurate location of your Base station antenna in Rover mode. Once you have that accurate location, then you can switch to Base station mode and provide an accurate station in Rtk2go that is based off a commercial Base station reference.

Lars_Englund · November 21, 2024, 11:21pm

Aaah, ofcourse, didn’t think of that, brilliant!