movingbase and rover

[deavn2236]

The program you provided is very helpful for GNSS resolution. I have a question to ask.
I'm using the ZED-F9P for moving and rover positioning. I want to achieve positioning and orientation for a small vehicle with it. I use two ZED-F9Ps for interaction, as shown in the picture. How can I use this library to obtain GNSS position and the corresponding orientation of the two boards

https://content.u-blox.com/sites/default/files/documents/ZED-F9P-MovingBase_AppNote_UBX-19009093.pdf

[semuadmin]

Hi @deavn2236,

There's no 'off-the-shelf' solution for this in pygnssutils, but assuming you're familiar with basic F9P UBX configuration, enabling and monitoring the UBX-NAV-RELPOSNED message in the rover receiver will give you the relative orientations of base and rover.

FYI the "Rover Plot" widget in the PyGPSClient GUI application does exactly this and presents the information the form of a location plot (the centre of the plot represents the base and the orange dots represent the rover vector and trace):

Suggest reading the u-blox interface documentation on the UBX-NAV-RELPOSNED message type e.g.:

https://content.u-blox.com/sites/default/files/documents/u-blox-F9-HPG-L1L5-1.40_InterfaceDescription_UBX-23006991.pdf

Hope this helps.