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SIYI RTK User Manual

SIYI RTK User Manual

Positioning and orientation module
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SIYI RTK Positioning and Orientation Module User
Manual v1.0
SIYI RTK
Positioning and
Orientation Module
User Manual
SIYI Technology (Shenzhen) Co., Ltd.
siyi.biz/en

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Summary of Contents for SIYI RTK

  • Page 1 SIYI RTK Positioning and Orientation Module User Manual v1.0 SIYI RTK Positioning and Orientation Module User Manual SIYI Technology (Shenzhen) Co., Ltd. siyi.biz/en...
  • Page 2 SIYI RTK Positioning and Orientation Module User Manual v1.0 Thank you for purchasing SIYI Technology products. The SIYI RTK family proudly introduces the new dual-antenna high-precision full-system all-frequency positioning and orientation module. With advanced performance and top-notch accuracy, it is compact in size and boasts extremely low power consumption.
  • Page 3 SIYI RTK Positioning and Orientation Module User Manual v1.0 Technology engineers about product-related knowledge and to provide feedback on product issues. Contact Us： SIYI Official Website (https://siyi.biz/en) SIYI User Group - Facebook Facebook Linkedln YouTube...
  • Page 4 SIYI RTK Positioning and Orientation Module User Manual v1.0 User Manual Version Update History Version Update Date Update Content 2024.8 Initial release...

  • Page 5: Table Of Contents

    Chapter 2: Before Use ................. 14 2.1 Installation And Fixing ....................14 2.1.1 F9P Rtk Base Station ..................14 2.1.2 Mobile End (SIYI Rtk Positioning And Orientation Module) ......15 Chapter 3: Dual-Antenna Orientation (Compass Replacement) ....18 Chapter 4: Centimeter-Level Positioning With Rtk ........24 4.1 Base Station Connection Instructions .................

  • Page 6: Read Tips

    Prohibited Mandatory Mark Safety The SIYI RTK Positioning and Orientation Module is designed and manufactured for professional application scenarios. Necessary adjustments have been completed before leaving the factory; please do not disassemble or modify its structure. The F9P RTK...

  • Page 7: Storage / Carrying / Recycling

    Danger Always place your SIYI products at places where babies or kids do not reach. SIYI products should be placed in places which are too hot (above 60℃)
  • Page 8 Manual v1.0 or too cold (under -20℃). Caution SIYI products should not be placed in places under direct sunshine or too dusty or too wet. Carrying or transporting SIYI products should avoid vibration or shatter by which components may break.

  • Page 9: Chapter 1: Product Overview

    BeiDou, GPS, GLONASS, Galileo, and QZSS. This significantly enhances positioning accuracy and reliability. RM3100 Industrial-Grade Magnetometer Equipped with the RM3100 magnetometer, SIYI's RTK positioning orientation module greatly improves magnetic field measurement resolution, reduces noise levels, and expands measurement range, providing the positioning system with excellent anti-interference capability.

  • Page 10: Interfaces And Definitions

    SIYI RTK Positioning and Orientation Module User Manual v1.0 Compact and Lightweight Design Engineered specifically for the intelligent robotics ecosystem, the module embodies minimalist design, achieving millimeter-level precision and ultralight weight. 1.2 Interfaces and Definitions...

  • Page 11: Technical Specifications

    SIYI RTK Positioning and Orientation Module User Manual v1.0 1.3 Technical Specifications Hardware Specifications GNSS Receiver Unicore UM982 Electronic Compass PNI RM3100 GLONASS Satellite Navigation BeiDou System Galileo QZSS Antenna 1： BDS:B1I、B2I、B3I GPS:L1C/A、L2P（Y）/L2C、L5 GLONOSS:L1、L2 Galileo: E1、E5a、E5b QZSS:L1、L2、L5 Satellite Frequency Band Antenna 2：...

  • Page 12: Item List

    1 x USB (Type-C) Antenna Interface Type MMCX Operating Voltage 4.5 ~ 5.5 V Power Consumption Operating Temperature –30 ~ 75 °C Product Dimensions 40mmx30.5mmx15mm Product Weight 22.8g（excluding antenna） 1.4 Item List 1 x SIYI RTK Positioning and Orientation Module...

  • Page 13: Status Indicator Definitions

    550mm) 1 x Type-C to USB Data Cable 1 x UART1 to GPS Module Connection Cable (for connecting the UART1 interface of the RTK mobile module to the flight controller GPS module) 1 x UART1 to TELEM4 Connection Cable...
  • Page 14 Red Light On: Module error Red Light Off: Module is normal Note The RTK status indicator light is only active on the mobile end when the system enters RTK status. The RTK status indicator light on the base station end will not light up.

  • Page 15: Chapter 2: Before Use

    Chapter 2: Before Use 2.1 Installation and Fixing 2.1.1 F9P RTK Base Station Refer to the image above to securely mount the RTK base station and the mushroom antenna on a tripod, ensuring that the antenna feed line is properly connected.

  • Page 16: Mobile End (Siyi Rtk Positioning And Orientation Module)

    2.1.2 Mobile End (SIYI RTK Positioning and Orientation Module) Refer to the image above to securely mount the RTK mobile end on the aircraft body, ensuring it does not wobble. The arrow on the RTK module should align with the installation direction of the...
  • Page 17 Installation of Mobile End Antenna Bracket If the frame design does not allow for the RTK mobile end antenna to be installed in the specified position, refer to the image below. Use a mounting bracket to securely fix the four-arm spiral antenna to the aircraft body, ensuring it does not wobble.
  • Page 18 SIYI RTK Positioning and Orientation Module User Manual v1.0 Note Please avoid obstructing the RTK antenna, as this may affect positioning performance.

  • Page 19: Chapter 3: Dual-Antenna Orientation (Compass Replacement)

    SIYI RTK Positioning and Orientation Module User Manual v1.0 Chapter 3: Dual-Antenna Orientation (Compass Replacement) When dual RTK antennas are installed, they can replace the device's compass enable dual-antenna orientation functionality.
  • Page 20 SIYI RTK Positioning and Orientation Module User Manual v1.0 Instructions for Use Refer to the diagram above to connect the RTK mobile module to the flight controller, while the flight controller is connected to the airborne data link. ArduPilot firmware version 4.4.0 or above is required.
  • Page 21 If only using the main antenna for positioning and not utilizing the orientation function, set GPS1_TYPE = 24 (Unicore Master) Set the position of the main and secondary antennas for the SIYI RTK Positioning and Orientation Module: GPS_MB1_TYPE = 1 (The offset of the mobile baseline main...
  • Page 22 SIYI RTK Positioning and Orientation Module User Manual v1.0 antenna relative to the secondary antenna. After modification, restart to display the next parameter.) GPS_MB1_OFS_X: The X-axis offset of the main antenna relative to the secondary antenna (distance in meters). If the main antenna is in front of the secondary antenna, the value is positive;...
  • Page 23 SIYI RTK Positioning and Orientation Module User Manual v1.0 flight controller (distance in meters). If the main antenna is to the right of the flight controller, the value is positive; otherwise, it is negative. GPS_POS1_Z: The Z-axis offset of the main antenna relative to the flight controller (distance in meters).
  • Page 24 SIYI RTK Positioning and Orientation Module User Manual v1.0 The message in the ground station's status bar, "EKF3 IMUx yaw aligned," indicates that the dual-antenna orientation is effective.

  • Page 25: Chapter 4: Centimeter-Level Positioning

    SIYI RTK Positioning and Orientation Module User Manual v1.0 Chapter 4: Centimeter-Level Positioning with RTK The RTK base station and mobile module can be used in combination to establish a connection through the flight controller and data link, enabling centimeter-level positioning.

  • Page 26: Base Station Connection Instructions

    Manual v1.0 4.1 Base Station Connection Instructions Refer to the above diagram to set up the F9P RTK base station. The base station communicates with the PC ground station and transmits the real-time position of the RTK base station to the flight controller via the data link.
  • Page 27 SIYI RTK Positioning and Orientation Module User Manual v1.0 Run the Mission Planner ground station software and navigate to “Initial Setup > Optional Hardware > RTK.” Refer to the image below for parameter configuration:...
  • Page 28 SIYI RTK Positioning and Orientation Module User Manual v1.0 It is recommended to check the option for automatic configuration of the F9P, set the observation accuracy to 2.5, and the minimum observation time to 60s. After completing the settings, click Restart to begin the observation.
  • Page 29 When the base station is operating normally and convergence is complete, the ground station interface will display as shown in the diagram below. The GPS status will display rtk fixed, indicating that the system has successfully entered RTK positioning mode.
  • Page 30 SIYI RTK Positioning and Orientation Module User Manual v1.0...

  • Page 31: Chapter 5: Using Network Rtk With Siyi Handheld Ground Station

    RTK base station, can achieve network RTK functionality. Use the SIYI handheld ground station to run the Mission Planner ground station software, connecting the SIYI handheld ground station to the mobile internet. Go to “Initial Setup > RTK > NTRIP.”...
  • Page 32 SIYI RTK Positioning and Orientation Module User Manual v1.0 The protocol address format is as follows (using Qianxun RTK as an example): http://USER:PASSWORD@rtk.ntrip.qxwz.com:8002/RTCM32_GGB...
  • Page 33 In this format, USER is the username for the FindCM service account applied for by the user, PASSWORD is the corresponding password, rtk.ntrip.qxwz.com is the FindCM service address for the Qianxun positioning server, 8002 is the port broadcasting WGS84 coordinate system data, and RTCM32_GGB is the data source for broadcasting RTCM 3.2 format data.
  • Page 34 Note Although this chapter uses the Android version of Mission Planner as an example to set network RTK parameters, we do not recommend using this method for aircraft parameter tuning. For complex flight control parameter adjustments, it is preferable to...

  • Page 35: Chapter 6: After-Sale Service

    Chapter 6: After-Sale Service If there were any questions or problems using SIYI Technology’s product, you can always try to send an email to SIYI Official A/S Center (support@siyi.biz) or consult your sales representative or dealer for answers or solutions.

  • Page 36: Warranty

    6.2 Warranty SIYI Technology guarantees that, subject to the following conditions, Return & Refund Service, Replacement Service, and Warranty Repair Service can be requested. Please contact SIYI directly (support@siyi.biz or your sales representative) or authorized SIYI dealer for more detail.
  • Page 37 It is requested beyond seven (7) calendar days of receiving a product. A product sent to SIYI for Return & Refund Service does not include all original accessories, attachments or packaging, or any item is not in new or like-new condition, i.e., with cracks, dents, or scratches.

  • Page 38: 15-Day Replacement

    SIYI RTK Positioning and Orientation Module User Manual v1.0 6.2.2 15-Day Replacement You can request Replacement Service: Within fifteen (15) calendar days of receiving the product if the product has sustained a substantial damage in transit, provided always that the damage proof issued by the carrier can be provided to SIYI.
  • Page 39 SIYI RTK Positioning and Orientation Module User Manual v1.0 A product sent to SIYI for replacement does not include all original accessories, attachments, and packaging, or contains items damaged by user error. A product is found to have no defects after all appropriate tests are conducted by SIYI.

  • Page 40: 1-Year Warranty Repair

    You can request warranty repair service: If a product does not function as warranted during the warranty period, you may obtain after-sales service by contacting SIYI’s service center. You will need to provide a valid proof-of-purchase, receipt, or order number for the warranty service.
  • Page 41 SIYI RTK Positioning and Orientation Module User Manual v1.0 Damage caused by improper installation, in correct use, or operation not in accordance with official instructions or manuals. Damage caused by non-authorized service provider. Damage caused by unauthorized modification of circuits and mismatch or misuse of the battery and charger.
  • Page 42 SIYI RTK Positioning and Orientation Module User Manual v1.0 SIYI Technology Business Inquiry: info@siyi.biz Phone: +86 400 838 2918 A/S Center: support@siyi.biz...