RT-NAVI

rt-navi is our real-time navigation application. It proposes interfaces to our GNSS-RTK solver and supports one U-Blox receiver, since Rust language offers great support for these devices.

If support for other devices appear, it should be easy to propose other interfaces.

rt-navi expects a single serial interface and currently does not manage several receivers.

Licensing

This application is part of the RTK-rs framework which is delivered under the Mozilla V2 Public license.

PPP / RTK

rt-navi offers direct/absolute navigation by default (also referred to as PPP).

An RTK option will be developped in near future.

Compilation

The U-Blox library (one of our dependency) is not compatible with --all-features, as we use compilation features to select the U-Blox protocol (read down below). So rt-navi is not compatible with this compilation mode, you have to select the features you are interested one by one.

Cross-compilation

rt-navi is compatible with cross-compilation, but it currently requires support of the std library.

Deployment

Activate $RUST_LOG to have more information. Use trace to unlock all traces.

Use -p to specify the serial interface to the U-Blox.

RUST_LOG=debug rt-navi -p /dev/ttyACM0

[2025-05-11T09:31:21Z INFO  anise::almanac] Loading bytes as DAF/SPK
[2025-05-11T09:31:21Z DEBUG rt_navi] deployed with User {
        profile: Some(
            Pedestrian,
        ),
        clock_sigma_s: 0.001,
    } 

[...]
[2025-05-11T09:31:21Z DEBUG rt_navi] deployed with Config {
        timescale: GPST,
        method: SPP,
        user: User {
            profile: None,
            clock_sigma_s: 0.001,
        },

[...]
[2025-05-11T09:31:21Z INFO  rt_navi] solver deployed
[2025-05-11T09:31:21Z DEBUG rt_navi] deploying ublox..
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-RAWX
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-NAV-PVT
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-SFRBX
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-RXM-RATE
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] UBX-MON-VER
[2025-05-11T09:31:21Z DEBUG rt_navi::ublox] ublox: hw-version: 00080000, sw-version: EXT CORE 3.01 (111141) , extensions: ["ROM BASE 2.01 (75331)", "FWVER=TIM 1.10", "PROTVER=22.00", "MOD=NEO-M8T-0", "FIS=0xEF4015 (100111)", "GPS;GLO;GAL;BDS", "SBAS;IMES;QZSS"]

Soon the navigation messages gathering starts, and so does the measurement collection.
When both align and everything becomes feasible, the solver naturally consumes all of this data and we obtain a P.V.T:

U-Blox specificity

rt-navi currently requires a U-Blox receiver to operate. We offer several compilation options to select the U-Blox protocol ("protocol" version being very important, because it actually defines which receiver you can operate!):

• ubx_proto23 v23 (Default, for M8 series)
• ubx_proto14 v14
• ubx_proto27 v27 (for F9 series)
• ubx_proto31 v31 (for newer series)

P.V.T solutions

TODO

Initial fix

We offer a few options to specify initial x, y and z coordiates. This reduces the constraint to initial fix and make it easier to obtain. We recommend using this only if you have a rather good idea.

rt-navi -p /dev/ttyACM0 --coords-ecef-km=1000.0,2000.0,3000.0

Ecosystem

rt-navi uses the combination of several major crates to achieve its objectives

• ANISE
• Hifitime
• Nyx-Space
• SP3
• GNSS-RTK
• UBlox