GR-901U GNSS(ZED-F9P) USB Web Manual

本体及び付属品

GR901U本体 USB TypeA アンテナ内蔵 x1

+　Option 台座（底部マグネット）　→　GR-901V　
GR-901V
GR-901U

特徴

ZED-F9P搭載アンテナ内蔵一体型GNSSレシーバー USBインターフェイス

2周波(L1/L2 Dual Band)マルチ受信GNSS 　GPS/QZSS/GLONASS/BEIDOU/GALILEO/WAAS SBAS
高速なRTK fix(数十秒内）　センチメートル精度を出力　RTK　Rover/Base両システムにご利用いただけます。
ビルの谷間など受信環境の悪いところでもセンチメートル精度が可能です。
仮想COMポート・Windows Location Sensor対応
EMIシールド加工
防水　IPX7

GR-901U/V (Ucustomized) GNSS USB

GPS	`u-blox ZED-F9P 184ch`
受信周波数	GPS/QZSS/SBAS `L1C/A(1575.42) L2C(1227.60)` GLONASS `L1OF(1602+k0.5625,K-7,,5,6)/L2OF(1246+k0.5625,K-7,,5,6)` GALILEO `E1-B/C(1575.42)E5b(1207.140)` BeiDou `B1l(1561.098)B2l(1207.140)`
位置精度	RTK:`1cm+1ppmCEP`　SBAS:`1mCEP PVT:1.5mCEP`
速度正確度	速度　`0.05m/秒`　方位　`0.3度`
TTFF	`25/2/2秒`　Cold/As/Hot
受信感度	`-167dBm(Tracking＆Navi）-148dBm（Acquisition）`
更新	（GP&GL&GA&BE/GP&BE/GPS）　RTK:`8/15/20Hz`　PVT:`10/25/25Hz` RAW:`20/25/25Hz`
Moving BaseモードRTK性能	（GP&GL&GA&BE/GP&BE/GPS）Max Update rate `8/10/10Hz` 方位角正確度`0.4/0.4/0.4°`
高度	`50,000m limit`
速度	`500m/秒 limit`
加速度	`<4g`
プロトコル	`NMEA 0183v4.11 ASCII UBX独自プロトコル/binary RTCM3.3 binary` `UART 1 460800bps ,N81` UART1 38400bps `初期設定　UART1: NMEA,UBX,RTCM3.3 NMEA出力のみ　UART2: RTCM3.3 出力無しNMEA無効UBXサポート無し`
補強システムサポート	QZSS: `Support L1S SLAS Correction data broadcasted on L1` `SBAS:WAAS, EGNOS, MSAS, GAGANDGNSS: RTCM 10403.3` Rover mode messages: `(RTCM)1001~1012, 1033, 1074, 1075, 1077, 1084, 1085, 1087,1094, 1095, 1097, 1124, 1125, 1127` Base mode messages: `(RTCM)1005, 1074, 1077, 1084, 1087, 1094,1097, 1124, 1127, 1230, 4072.0, 4072.1`
電源電圧	`DC5V　（33mA　標準）USB2.0`
本体サイズ	`116mm（直径）×24.6㎜（高）　　台座70㎜（径）×33㎜（高さ）`
ケーブル	`USB Type A　1.5m`
インターフェイス	`USB（Windows USB serial Driver）/Sensor(u-blox GNSS Sensor Device Driver for Windows)`
ストレージ温度	`-40℃～85℃`
バッテリ温度	`-20℃～60℃`
湿度	`95%（結露しない）`
防水	`IPX7`
振動	`5Hz-500Hz 5g`
振動正弦半波衝撃パルス	`30g 11ms`
Certification	`RoHS`
USB A Type	`Pin 1　Vin　Pin2,3　USB IF　Pin4 GND`
LED Color	`LED(緑） ON 探索中　LED（緑）点滅　捕捉`
RTK LED Color	`LED(オレンジ）点灯-FIX　点滅-計算中　OFF-入力RTCMデータなし`

Windows10セットアップ (u-center/USB serial driver)

u-centerv21.05.exe.zip（2021/7）のダウンロードとインストール

u-centerインストール

u-center for Windows解凍（展開）後　u-center_v21.05を実行しインストールを行います。

VCP(COMポート）で接続する

コンポーネント選択ではu-centerとDriversにUse Windows USB Serial Driverにチェックが入っています。このまま変更せずに進め、インストールを完了します。

センサードライバー

をインストールした場合はデバイスマネージャーセンサーの項にu-blox GNSS Location Sensor(or u-blox Universal GNSS)と表示されています。別途COMポートで接続する場合USBシリアルデバイスへドライバーの更新を行います(→FAQ）。参考C: \ Program Files (x86) \ Windows kits \ 10 \ Tools \ x64 \sensordiagnostictool.exe

NaviViewerUbインストール

ダウンロード（NaviViewerUb_v0.0.1.0_20200401.zip)後に展開（解凍）しNaviViewerUV_v0.0.1.0.exeを実行します。

COMポート（USBシリアルデバイス　COMxx）、ボーレート9600(他でも可能）bpsを選択しOpen Portをクリックします

├──　u-center Menu　+

 
u-center 21.0.5
  ├── File
  ├── Edit
  ├── View
      ├── Packet Console
      ├── Binary Console
      ├── Text Console
      ├── Message View
　　　├── Configuration View
      ├── (Generation 9 Configuration View)
      ├── Statics View
      ├── Table View
      ├── Recent Table View
      ├── Chart View
      ├── Recent Chart View
      ├── Histgram View
      ├── Recent Histgram View
      ├── (GNSS Driver View)
      ├── Map View
      ├── Recent Static Map View
      ├── Camera View
      ├── Daviation Map
      ├── Sky View
      ├── Docking Windows
      └── Toolbars
  ├── Player
  ├── Reciver
      ├── Connection
      ├── Baudrate
  ├── Tools
  ├── Windows
  └── Help

├── Configuration View　+

    　├── Configuration View
    	  ├── ANT(Antena Setting)
    	  ├── BATCH
    	  ├── CFG(Configuration)
    	  |   └── Revert to last saved configuration
    	  |   └── Revert all but ANT default configuration
    	  |   └── Revert default configuration　工場出荷状態に戻す
    	  |   └── Save current configuration 変更を保存
    	  |   └── User defined configuration
    	  │
    	  ├── DAT(Datum)
    	  |   └── WGS84
    	  ├── DGNSS (Differential GNSS configuration)
    	  |   └── 3=RTK fixed: Ambiguities are fixed whenever possible.
    	  
    	  ├── GNSS(GNSS Config)　generation 9 configuration へ
    	  
    	  ├── MSG(Messages)
    	  |　 └── 02-15 RXM-RAWX USB 1
    	  |　 └── 02-13 RXM-SFRBX USB 1
    	  |　 └── F0-00 NMEA GxGGA
    	  | 　
    	  |   └── F0-04 NMEA GxRMC
    	  |   
    	  |   └── F0-0D NMEA GxGNS
    	  |   
    	  ├── NAV5(Navigation 5)
    	  |   └── Navigation Modes
    	  |   |   └── Dynamic ModelPortable
    	  |   |   └── Fix Mode
    	  |   |   └── UTC Standard
    	  |   └── Navigation Input filters
    	  |   └── Navigation output filters
    	  ├── NAVX5(Navigation Expert 5)
    	  |   └── Navigation Input Filters
    	  |   └── Miscellaneous
    	  |   |   └── GPS Week rollover(2098)
    	  |   └── AssistNow Autonomous
    	  |   └── ADR/UDR
    	  |   └── Sugnal Atenuaton Compensation
    	  ├── NMEA(NMEA Protocol)
    	  |   └── CFG-NMEA-DATA2
    	  |   |   └── Filters
    	  |   |   └── NMEA Version
    	  |   |   |   └── 2.1/2.3/4.0/4.10/4.11
    	  |   |   └── Max SVs per Talker Id
    	  |   |   └── Mode Flags
    	  |   |   |   └── Conmatibility/Consider/Stict limit 82ch max
    	  |   |   |       /High precision mode
    	  |   |   └── GNSS to filter out
    	  |   |   └── Numberring used for SVs not supported by NMEA 0/1 3digit
    	  |   |   └── Main Talker ID 0/1 2-5
    	  |   |   └── GSV Talker ID 0
    	  |   |   └── BeiDou Talker ID
    	  
    	  ├── PRT(Ports)
    	  |   └── Target 1 UART1
    	  |   └── Protocol in 0+1+5 
    	  |   └── Protocol out 0+1+5 
    	  |   └── Baudrate 408600
    	  
    	  ├── RATE(Rates)
    	  |   └── Time Source 1 GPS time
    	  |   └── Measurement Period 100[ms] 
    	  |   └── (Measurement Frequency 10.0[Hz])
    	  |   └── (Navigation Rate 1[cyc])
    	  |   └── (Navigation Frequency 10.0[Hz])
    	  
    	  ├── TMODE3(Time Mode)
    	  |   └── Mode 0 Disabled　（1-Survey-in Time Required Position Acc /2-Fixed Mode Fixed Position XYZ 0.000-
    	  
    	  └── VALSET(Set Configuration Item Values )
    	  CFG-MSGOUT-RTCM_3X_TYPE1005_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1077_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1087_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1097_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1127_USB 1
    	  CFG-MSGOUT-RTCM_3X_TYPE1230_USB 1
    	  
    	  CFG-TMODE-MODE 	2-FIXED
    	  CFG-TMODE-POS_TYPE 	1-LLH
    	  CFG-TMODE-LAT 		緯度（小数点以下7桁まで）35.1234567→351234567
    	  CFG-TMODE-LAT_HP 		緯度（小数点以下8,9桁部分）89
    	  CFG-TMODE-LON 		経度（小数点以下7桁まで）
    	  CFG-TMODE-LON_HP 		経度（89桁部分）
    	  CFG-TMODE-HEIGHT		高度　CM　単位　100.12m　→　10012
    	  CFG-TMODE-HEIGHT_HP 	高度　0.1㎜部分　100.1234m　→34

Default config

GNSSデフォルトコンフィグ

MON-VER - 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 31 2E 30 30 20 28 66 31 30 63 33 36 29 00 00 00 00 00 00 00 00 30 30 31 39 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 30 78 31 31 38 42 32 30 36 30 00 00 00 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 31 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 37 2E 31 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 5A 45 44 2D 46 39 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 47 41 4C 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 53 42 41 53 3B 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
CFG-VALGET - 06 8B 44 01 01 00 00 00 01 00 01 10 00 01 01 01 10 00 09 00 04 10 00 07 00 05 10 01 08 00 05 10 01 09 00 05 10 01 0A 00 05 10 01 0B 00 05 10 01 33 00 05 10 01 12 00 11 10 00 13 00 11 10 00 14 00 11 10 01 15 00 11 10 01 16 00 11 10 01 18 00 11 10 01 1B 00 11 10 00 25 00 11 10 00 46 00 11 10 01 52 00 11 10 00 53 00 11 10 00 61 00 11 10 00 81 00 11 10 00 82 00 11 10 00 83 00 11 10 00 51 00 14 10 00 52 00 14 10 00 53 00 14 10 00 05 00 21 10 00 01 00 22 10 00 02 00 22 10 00 03 00 22 10 00 04 00 22 10 00 12 00 24 10 00 20 00 24 10 00 30 00 24 10 00 40 00 24 10 00 50 00 24 10 00 01 00 25 10 01 01 00 31 10 01 03 00 31 10 01 05 00 31 10 01 07 00 31 10 01 0A 00 31 10 01 0D 00 31 10 01 0E 00 31 10 01 12 00 31 10 01 14 00 31 10 00 15 00 31 10 01 18 00 31 10 01 1A 00 31 10 01 1F 00 31 10 01 20 00 31 10 01 21 00 31 10 01 22 00 31 10 01 24 00 31 10 01 25 00 31 10 01 27 00 31 10 01 01 00 33 10 00 02 00 33 10 00 03 00 33 10 00 11 00 33 10 00 01 00 34 10 00 02 00 34 10 00 03 00 34 10 01
CFG-VALGET - 06 8B 44 01 01 00 40 00 04 00 34 10 00 11 00 34 10 00 14 00 34 10 00 01 00 35 10 00 02 00 35 10 00 03 00 35 10 00 04 00 35 10 00 02 00 36 10 00 03 00 36 10 01 04 00 36 10 01 05 00 36 10 00 02 00 37 10 00 03 00 37 10 00 05 00 37 10 01 06 00 37 10 00 07 00 37 10 00 07 00 41 10 01 09 00 41 10 01 0A 00 41 10 01 0B 00 41 10 00 0C 00 41 10 01 0D 00 41 10 00 13 00 41 10 00 02 00 51 10 00 03 00 51 10 01 05 00 52 10 01 06 00 52 10 00 07 00 52 10 00 05 00 53 10 01 06 00 53 10 00 07 00 53 10 00 02 00 64 10 00 03 00 64 10 00 04 00 64 10 00 05 00 64 10 00 06 00 64 10 00 07 00 64 10 00 01 00 65 10 01 02 00 65 10 01 03 00 65 10 00 05 00 65 10 00 06 00 65 10 00 07 00 65 10 00 08 00 65 10 00 09 00 65 10 00 01 00 71 10 01 02 00 71 10 01 04 00 71 10 01 01 00 72 10 01 02 00 72 10 01 04 00 72 10 01 01 00 73 10 01 02 00 73 10 01 04 00 73 10 01 01 00 74 10 01 02 00 74 10 01 04 00 74 10 01 01 00 75 10 00 02 00 75 10 00 04 00 75 10 01 01 00 76 10 00 02 00 76 10 00 04 00 76 10 01 01 00 77 10 01
CFG-VALGET - 06 8B 44 01 01 00 80 00 02 00 77 10 01 04 00 77 10 01 01 00 78 10 01 02 00 78 10 01 04 00 78 10 01 01 00 79 10 01 02 00 79 10 01 04 00 79 10 01 01 00 7A 10 01 02 00 7A 10 01 04 00 7A 10 01 01 00 81 10 00 02 00 81 10 00 03 00 81 10 00 04 00 81 10 00 05 00 81 10 00 01 00 82 10 00 02 00 82 10 00 03 00 82 10 00 04 00 82 10 00 05 00 82 10 00 01 00 83 10 00 02 00 83 10 00 03 00 83 10 00 04 00 83 10 00 05 00 83 10 00 01 00 84 10 00 02 00 84 10 00 03 00 84 10 00 04 00 84 10 00 05 00 84 10 00 01 00 85 10 00 02 00 85 10 00 03 00 85 10 00 04 00 85 10 00 05 00 85 10 00 03 00 93 10 00 04 00 93 10 01 05 00 93 10 00 06 00 93 10 00 11 00 93 10 00 12 00 93 10 00 13 00 93 10 00 15 00 93 10 00 16 00 93 10 00 17 00 93 10 00 21 00 93 10 00 22 00 93 10 00 23 00 93 10 00 24 00 93 10 00 25 00 93 10 00 26 00 93 10 00 01 00 A1 10 00 02 00 A1 10 00 03 00 A1 10 01 01 00 A2 10 00 02 00 A2 10 00 02 00 A3 10 01 07 00 A3 10 00 08 00 A3 10 01 09 00 A3 10 01 0A 00 A3 10 00 0B 00 A3 10 00 0C 00 A3 10 00
CFG-VALGET - 06 8B 44 01 01 00 C0 00 0D 00 A3 10 00 0E 00 A3 10 01 10 00 A3 10 00 11 00 A3 10 01 18 00 A3 10 00 19 00 A3 10 00 29 00 A3 10 00 2C 00 A3 10 00 2E 00 A3 10 00 2F 00 A3 10 00 30 00 A3 10 01 31 00 A3 10 00 32 00 A3 10 01 33 00 A3 10 00 34 00 A3 10 01 35 00 A3 10 00 47 00 A3 10 01 56 00 A3 10 00 58 00 A3 10 00 59 00 A3 10 00 5A 00 A3 10 01 5B 00 A3 10 00 5C 00 A3 10 00 5D 00 A3 10 01 04 00 A5 10 00 02 00 C6 10 00 01 00 C7 10 01 02 00 C7 10 00 02 00 DE 10 00 03 00 DE 10 00 04 00 DE 10 00 09 00 F6 10 00 11 00 01 20 00 21 00 01 20 00 31 00 01 20 00 41 00 01 20 00 51 00 01 20 00 61 00 01 20 00 71 00 01 20 00 81 00 01 20 00 91 00 01 20 00 A1 00 01 20 00 B1 00 01 20 00 C1 00 01 20 00 D1 00 01 20 00 E1 00 01 20 00 11 01 01 20 00 21 01 01 20 00 31 01 01 20 00 41 01 01 20 00 51 01 01 20 00 61 01 01 20 00 71 01 01 20 00 81 01 01 20 00 91 01 01 20 00 A1 01 01 20 00 B1 01 01 20 00 C1 01 01 20 00 D1 01 01 20 00 E1 01 01 20 00 01 00 03 20 00 02 00 03 20 00 06 00 03 20 00 07 00 03 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 01 08 00 03 20 00 0C 00 03 20 00 0D 00 03 20 00 0E 00 03 20 00 0C 00 05 20 00 23 00 05 20 00 30 00 05 20 01 02 00 09 20 16 03 00 09 20 17 04 00 09 20 18 05 00 09 20 1E 06 00 09 20 1F 07 00 09 20 20 09 00 09 20 00 11 00 11 20 03 1A 00 11 20 12 1C 00 11 20 00 20 00 11 20 64 21 00 11 20 00 22 00 11 20 00 23 00 11 20 00 24 00 11 20 01 26 00 11 20 00 42 00 11 20 02 43 00 11 20 03 44 00 11 20 01 45 00 11 20 01 51 00 11 20 00 A1 00 11 20 03 A2 00 11 20 20 A3 00 11 20 06 A4 00 11 20 0A AA 00 11 20 00 AB 00 11 20 00 C4 00 11 20 3C D5 00 11 20 00 11 00 14 20 03 54 00 14 20 01 03 00 21 20 01 05 00 22 20 00 11 00 22 20 19 12 00 22 20 32 13 00 22 20 19 14 00 22 20 66 21 00 22 20 0A 22 00 22 20 32 31 00 22 20 99 32 00 22 20 4C 11 00 24 20 00 13 00 24 20 00 14 00 24 20 03 38 00 25 20 00 05 00 34 20 0A 07 00 34 20 37 21 00 34 20 00 22 00 34 20 02 01 00 41 20 03 02 00 41 20 0F 03 00 41 20 06 04 00 41 20 0A 05 00 41 20 02 06 00 41 20 06 0E 00 41 20 1E 0F 00 41 20 03
CFG-VALGET - 06 8B 44 01 01 00 40 01 10 00 41 20 00 01 00 51 20 84 02 00 52 20 01 03 00 52 20 00 04 00 52 20 00 08 00 52 20 00 02 00 53 20 01 03 00 53 20 00 04 00 53 20 00 08 00 53 20 00 01 00 64 20 32 08 00 64 20 00 06 00 91 20 00 07 00 91 20 01 08 00 91 20 00 09 00 91 20 01 0A 00 91 20 00 10 00 91 20 00 11 00 91 20 00 12 00 91 20 00 13 00 91 20 00 14 00 91 20 00 15 00 91 20 00 16 00 91 20 00 17 00 91 20 00 18 00 91 20 00 19 00 91 20 00 1A 00 91 20 00 1B 00 91 20 00 1C 00 91 20 00 1D 00 91 20 00 1E 00 91 20 00 24 00 91 20 00 25 00 91 20 00 26 00 91 20 00 27 00 91 20 00 28 00 91 20 00 29 00 91 20 00 2A 00 91 20 00 2B 00 91 20 00 2C 00 91 20 00 2D 00 91 20 00 2E 00 91 20 00 2F 00 91 20 00 30 00 91 20 00 31 00 91 20 00 32 00 91 20 00 33 00 91 20 00 34 00 91 20 00 35 00 91 20 00 36 00 91 20 00 37 00 91 20 00 38 00 91 20 00 39 00 91 20 00 3A 00 91 20 00 3B 00 91 20 00 3C 00 91 20 00 3D 00 91 20 00 3E 00 91 20 00 3F 00 91 20 00 40 00 91 20 00 41 00 91 20 00 42 00 91 20 00 43 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 01 44 00 91 20 00 45 00 91 20 00 46 00 91 20 00 47 00 91 20 00 48 00 91 20 00 49 00 91 20 00 4A 00 91 20 00 4B 00 91 20 00 4C 00 91 20 00 4D 00 91 20 00 4E 00 91 20 00 4F 00 91 20 00 50 00 91 20 00 51 00 91 20 00 52 00 91 20 00 53 00 91 20 00 54 00 91 20 00 55 00 91 20 00 56 00 91 20 00 57 00 91 20 00 58 00 91 20 00 59 00 91 20 00 5A 00 91 20 00 5B 00 91 20 00 5C 00 91 20 00 5D 00 91 20 00 5E 00 91 20 00 5F 00 91 20 00 60 00 91 20 00 61 00 91 20 00 62 00 91 20 00 63 00 91 20 00 64 00 91 20 00 65 00 91 20 00 66 00 91 20 00 67 00 91 20 00 68 00 91 20 00 69 00 91 20 00 6A 00 91 20 00 6B 00 91 20 00 6C 00 91 20 00 6D 00 91 20 00 6E 00 91 20 00 7E 00 91 20 00 7F 00 91 20 00 80 00 91 20 00 81 00 91 20 00 82 00 91 20 00 83 00 91 20 00 84 00 91 20 00 85 00 91 20 00 86 00 91 20 00 87 00 91 20 00 88 00 91 20 00 89 00 91 20 01 8A 00 91 20 00 8B 00 91 20 00 8C 00 91 20 00 8D 00 91 20 00 8E 00 91 20 00 8F 00 91 20 00 90 00 91 20 00 91 00 91 20 00 92 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 C0 01 93 00 91 20 00 94 00 91 20 00 95 00 91 20 00 96 00 91 20 00 A1 00 91 20 00 A2 00 91 20 00 A3 00 91 20 00 A4 00 91 20 00 A5 00 91 20 00 A6 00 91 20 00 A7 00 91 20 00 A8 00 91 20 00 A9 00 91 20 00 AA 00 91 20 00 AB 00 91 20 01 AC 00 91 20 01 AD 00 91 20 01 AE 00 91 20 01 AF 00 91 20 01 B0 00 91 20 01 B1 00 91 20 01 B2 00 91 20 01 B3 00 91 20 01 B4 00 91 20 01 B5 00 91 20 00 B6 00 91 20 00 B7 00 91 20 00 B8 00 91 20 00 B9 00 91 20 00 BA 00 91 20 01 BB 00 91 20 01 BC 00 91 20 01 BD 00 91 20 01 BE 00 91 20 01 BF 00 91 20 01 C0 00 91 20 01 C1 00 91 20 01 C2 00 91 20 01 C3 00 91 20 01 C4 00 91 20 01 C5 00 91 20 01 C6 00 91 20 01 C7 00 91 20 01 C8 00 91 20 01 C9 00 91 20 01 CA 00 91 20 01 CB 00 91 20 01 CC 00 91 20 01 CD 00 91 20 01 CE 00 91 20 00 CF 00 91 20 00 D0 00 91 20 00 D1 00 91 20 00 D2 00 91 20 00 D3 00 91 20 00 D4 00 91 20 00 D5 00 91 20 00 D6 00 91 20 00 D7 00 91 20 00 D8 00 91 20 00 D9 00 91 20 00 DA 00 91 20 00 DB 00 91 20 00 DC 00 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 02 DD 00 91 20 00 DE 00 91 20 00 DF 00 91 20 00 E0 00 91 20 00 E1 00 91 20 00 E7 00 91 20 00 E8 00 91 20 00 E9 00 91 20 00 EA 00 91 20 00 EB 00 91 20 00 EC 00 91 20 00 ED 00 91 20 00 EE 00 91 20 00 EF 00 91 20 00 F0 00 91 20 00 F1 00 91 20 00 F2 00 91 20 00 F3 00 91 20 00 F4 00 91 20 00 F5 00 91 20 00 F6 00 91 20 00 F7 00 91 20 00 F8 00 91 20 00 F9 00 91 20 00 FA 00 91 20 00 19 01 91 20 00 1A 01 91 20 00 1B 01 91 20 00 1C 01 91 20 00 1D 01 91 20 00 1E 01 91 20 00 1F 01 91 20 00 20 01 91 20 00 21 01 91 20 00 22 01 91 20 00 37 01 91 20 00 38 01 91 20 00 39 01 91 20 00 3A 01 91 20 00 3B 01 91 20 00 41 01 91 20 00 42 01 91 20 00 43 01 91 20 00 44 01 91 20 00 45 01 91 20 00 55 01 91 20 00 56 01 91 20 00 57 01 91 20 00 58 01 91 20 00 59 01 91 20 00 5F 01 91 20 00 60 01 91 20 00 61 01 91 20 00 62 01 91 20 00 63 01 91 20 00 78 01 91 20 00 79 01 91 20 00 7A 01 91 20 00 7B 01 91 20 00 7C 01 91 20 00 7D 01 91 20 00 7E 01 91 20 00 7F 01 91 20 00 80 01 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 40 02 81 01 91 20 00 82 01 91 20 00 83 01 91 20 00 84 01 91 20 00 85 01 91 20 00 86 01 91 20 00 87 01 91 20 00 88 01 91 20 00 89 01 91 20 00 8A 01 91 20 00 8B 01 91 20 00 8C 01 91 20 00 8D 01 91 20 00 8E 01 91 20 00 8F 01 91 20 00 90 01 91 20 00 91 01 91 20 00 92 01 91 20 00 93 01 91 20 00 94 01 91 20 00 95 01 91 20 00 96 01 91 20 00 97 01 91 20 00 98 01 91 20 00 99 01 91 20 00 9A 01 91 20 00 9B 01 91 20 00 9C 01 91 20 00 9D 01 91 20 00 9E 01 91 20 00 9F 01 91 20 00 A0 01 91 20 00 A1 01 91 20 00 A2 01 91 20 00 A3 01 91 20 00 A4 01 91 20 00 A5 01 91 20 00 A6 01 91 20 00 A7 01 91 20 00 A8 01 91 20 00 A9 01 91 20 00 AA 01 91 20 00 AB 01 91 20 00 AC 01 91 20 00 AD 01 91 20 00 AE 01 91 20 00 AF 01 91 20 00 B0 01 91 20 00 B1 01 91 20 00 B2 01 91 20 00 B3 01 91 20 00 B4 01 91 20 00 B5 01 91 20 00 B6 01 91 20 00 B7 01 91 20 00 B8 01 91 20 00 B9 01 91 20 00 BA 01 91 20 00 BB 01 91 20 00 BC 01 91 20 00 BD 01 91 20 00 C8 01 91 20 00 C9 01 91 20 00 CA 01 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 02 CB 01 91 20 00 CC 01 91 20 00 CD 01 91 20 00 CE 01 91 20 00 CF 01 91 20 00 D0 01 91 20 00 D1 01 91 20 00 D2 01 91 20 00 D3 01 91 20 00 D4 01 91 20 00 D5 01 91 20 00 D6 01 91 20 00 D7 01 91 20 00 D8 01 91 20 00 D9 01 91 20 00 DA 01 91 20 00 DB 01 91 20 00 DC 01 91 20 00 DD 01 91 20 00 DE 01 91 20 00 DF 01 91 20 00 E0 01 91 20 00 E1 01 91 20 00 E2 01 91 20 00 E3 01 91 20 00 E4 01 91 20 00 E5 01 91 20 00 E6 01 91 20 00 E7 01 91 20 00 E8 01 91 20 00 E9 01 91 20 00 EA 01 91 20 00 F5 01 91 20 00 F6 01 91 20 00 F7 01 91 20 00 F8 01 91 20 00 F9 01 91 20 00 FF 01 91 20 00 00 02 91 20 00 01 02 91 20 00 02 02 91 20 00 03 02 91 20 00 04 02 91 20 00 05 02 91 20 00 06 02 91 20 00 07 02 91 20 00 08 02 91 20 00 09 02 91 20 00 0A 02 91 20 00 0B 02 91 20 00 0C 02 91 20 00 0D 02 91 20 00 0E 02 91 20 00 0F 02 91 20 00 10 02 91 20 00 11 02 91 20 00 12 02 91 20 00 13 02 91 20 00 14 02 91 20 00 15 02 91 20 00 16 02 91 20 00 17 02 91 20 00 18 02 91 20 00 19 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 C0 02 1A 02 91 20 00 1B 02 91 20 00 1C 02 91 20 00 27 02 91 20 00 28 02 91 20 00 29 02 91 20 00 2A 02 91 20 00 2B 02 91 20 00 2C 02 91 20 00 2D 02 91 20 00 2E 02 91 20 00 2F 02 91 20 00 30 02 91 20 00 31 02 91 20 00 32 02 91 20 00 33 02 91 20 00 34 02 91 20 01 35 02 91 20 00 36 02 91 20 00 37 02 91 20 00 38 02 91 20 00 39 02 91 20 00 3A 02 91 20 00 3B 02 91 20 00 3C 02 91 20 00 3D 02 91 20 00 3E 02 91 20 00 3F 02 91 20 00 40 02 91 20 00 41 02 91 20 00 42 02 91 20 00 43 02 91 20 00 44 02 91 20 00 4A 02 91 20 00 4B 02 91 20 00 4C 02 91 20 00 4D 02 91 20 00 4E 02 91 20 00 54 02 91 20 00 55 02 91 20 00 56 02 91 20 00 57 02 91 20 00 58 02 91 20 00 59 02 91 20 00 5A 02 91 20 00 5B 02 91 20 00 5C 02 91 20 00 5D 02 91 20 00 5E 02 91 20 00 5F 02 91 20 00 60 02 91 20 00 61 02 91 20 00 62 02 91 20 00 63 02 91 20 00 64 02 91 20 00 65 02 91 20 00 66 02 91 20 00 67 02 91 20 00 68 02 91 20 00 69 02 91 20 00 6A 02 91 20 00 6B 02 91 20 00 6C 02 91 20 00 90 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 00 03 91 02 91 20 00 92 02 91 20 00 93 02 91 20 00 94 02 91 20 00 A4 02 91 20 00 A5 02 91 20 00 A6 02 91 20 00 A7 02 91 20 01 A8 02 91 20 00 A9 02 91 20 00 AA 02 91 20 00 AB 02 91 20 00 AC 02 91 20 00 AD 02 91 20 00 AE 02 91 20 00 AF 02 91 20 00 B0 02 91 20 00 B1 02 91 20 00 B2 02 91 20 00 B3 02 91 20 00 B4 02 91 20 00 B5 02 91 20 00 B6 02 91 20 00 B7 02 91 20 00 B8 02 91 20 00 B9 02 91 20 00 BA 02 91 20 00 BB 02 91 20 00 BC 02 91 20 00 BD 02 91 20 00 BE 02 91 20 01 BF 02 91 20 00 C0 02 91 20 01 C1 02 91 20 00 C2 02 91 20 00 C3 02 91 20 00 C4 02 91 20 00 C5 02 91 20 00 C6 02 91 20 00 CC 02 91 20 00 CD 02 91 20 01 CE 02 91 20 00 CF 02 91 20 01 D0 02 91 20 00 D1 02 91 20 00 D2 02 91 20 01 D3 02 91 20 00 D4 02 91 20 01 D5 02 91 20 00 D6 02 91 20 00 D7 02 91 20 01 D8 02 91 20 00 D9 02 91 20 01 DA 02 91 20 00 F4 02 91 20 00 F5 02 91 20 00 F6 02 91 20 00 F7 02 91 20 00 F8 02 91 20 00 F9 02 91 20 00 FA 02 91 20 00 FB 02 91 20 00 FC 02 91 20 00 FD 02 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 40 03 FE 02 91 20 00 FF 02 91 20 01 00 03 91 20 00 01 03 91 20 01 02 03 91 20 00 03 03 91 20 00 04 03 91 20 01 05 03 91 20 00 06 03 91 20 01 07 03 91 20 00 08 03 91 20 00 09 03 91 20 00 10 03 91 20 00 11 03 91 20 00 12 03 91 20 00 13 03 91 20 00 14 03 91 20 00 15 03 91 20 00 16 03 91 20 00 17 03 91 20 00 18 03 91 20 00 19 03 91 20 01 1A 03 91 20 00 1B 03 91 20 01 1C 03 91 20 00 2C 03 91 20 00 2D 03 91 20 00 2E 03 91 20 00 2F 03 91 20 00 30 03 91 20 00 31 03 91 20 00 32 03 91 20 00 33 03 91 20 00 34 03 91 20 00 35 03 91 20 00 36 03 91 20 00 37 03 91 20 00 38 03 91 20 00 39 03 91 20 00 3A 03 91 20 00 45 03 91 20 00 46 03 91 20 00 47 03 91 20 00 48 03 91 20 00 49 03 91 20 00 4A 03 91 20 00 4B 03 91 20 00 4C 03 91 20 00 4D 03 91 20 00 4E 03 91 20 00 4F 03 91 20 00 50 03 91 20 00 51 03 91 20 00 52 03 91 20 00 53 03 91 20 00 54 03 91 20 00 55 03 91 20 00 56 03 91 20 00 57 03 91 20 00 58 03 91 20 00 59 03 91 20 00 5A 03 91 20 00 5B 03 91 20 00 5C 03 91 20 00
CFG-VALGET - 06 8B 44 01 01 00 80 03 5D 03 91 20 00 5E 03 91 20 00 5F 03 91 20 00 60 03 91 20 00 61 03 91 20 00 62 03 91 20 00 63 03 91 20 00 64 03 91 20 00 65 03 91 20 00 66 03 91 20 00 67 03 91 20 00 68 03 91 20 00 69 03 91 20 00 6A 03 91 20 00 6B 03 91 20 00 6C 03 91 20 00 6D 03 91 20 00 6E 03 91 20 00 6F 03 91 20 00 70 03 91 20 00 71 03 91 20 00 7C 03 91 20 00 7D 03 91 20 00 7E 03 91 20 00 7F 03 91 20 00 80 03 91 20 00 81 03 91 20 00 82 03 91 20 01 83 03 91 20 00 84 03 91 20 01 85 03 91 20 00 86 03 91 20 00 87 03 91 20 00 88 03 91 20 00 89 03 91 20 00 8A 03 91 20 00 8B 03 91 20 00 8C 03 91 20 00 8D 03 91 20 00 8E 03 91 20 00 8F 03 91 20 00 90 03 91 20 00 91 03 91 20 00 92 03 91 20 00 93 03 91 20 00 94 03 91 20 00 95 03 91 20 00 96 03 91 20 00 97 03 91 20 00 98 03 91 20 00 99 03 91 20 00 00 04 91 20 00 01 04 91 20 00 02 04 91 20 00 03 04 91 20 00 04 04 91 20 00 0A 04 91 20 00 0B 04 91 20 00 0C 04 91 20 00 0D 04 91 20 00 0E 04 91 20 00 20 04 91 20 00 21 04 91 20 00 22 04 91 20 00
CFG-VALGET - 06 8B 4A 01 01 00 C0 03 23 04 91 20 00 24 04 91 20 00 01 00 92 20 00 02 00 92 20 00 03 00 92 20 00 04 00 92 20 00 05 00 92 20 00 06 00 92 20 07 07 00 92 20 07 08 00 92 20 07 09 00 92 20 07 0A 00 92 20 07 01 00 93 20 29 02 00 93 20 00 07 00 93 20 00 31 00 93 20 00 32 00 93 20 00 03 00 A2 20 00 05 00 A2 20 00 06 00 A3 20 0F 12 00 A3 20 0F 25 00 A3 20 03 36 00 A3 20 10 37 00 A3 20 0F 38 00 A3 20 0E 51 00 A3 20 00 54 00 A3 20 00 55 00 A3 20 00 56 00 A3 20 00 01 00 C5 20 14 02 00 C5 20 8C 01 00 C6 20 08 04 00 C6 20 00 06 00 C6 20 01 08 00 C6 20 00 0A 00 C6 20 01 0C 00 C6 20 00 0E 00 C6 20 01 10 00 C6 20 00 12 00 C6 20 01 14 00 C6 20 00 16 00 C6 20 01 18 00 C6 20 00 1A 00 C6 20 01 1C 00 C6 20 00 1E 00 C6 20 01 20 00 C6 20 00 22 00 C6 20 01 24 00 C6 20 00 26 00 C6 20 01 28 00 C6 20 00 2A 00 C6 20 01 2C 00 C6 20 00 2E 00 C6 20 01 30 00 C6 20 00 32 00 C6 20 01 03 00 C7 20 16 01 00 F6 20 00 10 00 01 30 00 00 20 00 01 30 00 00 30 00 01 30 00 00 40 00 01 30 00 00 50 00 01 30 00 00 60 00 01 30 00 00
CFG-VALGET - 06 8B 84 01 01 00 00 04 70 00 01 30 00 00 80 00 01 30 00 00 90 00 01 30 00 00 A0 00 01 30 00 00 B0 00 01 30 00 00 C0 00 01 30 00 00 D0 00 01 30 00 00 E0 00 01 30 00 00 10 01 01 30 00 00 20 01 01 30 00 00 30 01 01 30 00 00 40 01 01 30 00 00 50 01 01 30 00 00 60 01 01 30 00 00 70 01 01 30 00 00 80 01 01 30 00 00 90 01 01 30 00 00 A0 01 01 30 00 00 B0 01 01 30 00 00 C0 01 01 30 00 00 D0 01 01 30 00 00 E0 01 01 30 00 00 01 00 02 30 64 00 01 00 05 30 32 00 01 00 09 30 00 00 08 00 09 30 00 00 17 00 11 30 32 08 B1 00 11 30 FA 00 B2 00 11 30 FA 00 B3 00 11 30 64 00 B4 00 11 30 5E 01 B5 00 11 30 96 00 01 00 21 30 64 00 02 00 21 30 01 00 0B 00 25 30 00 00 0C 00 25 30 00 00 3B 00 25 30 00 00 06 00 34 30 46 00 08 00 34 30 91 00 0A 00 65 30 46 15 0B 00 65 30 A9 01 0C 00 65 30 00 00 33 00 93 30 00 00 04 00 A2 30 00 00 3C 00 A3 30 F4 01 45 00 A3 30 B0 04 46 00 A3 30 E8 03 48 00 A3 30 00 00 02 00 A5 30 78 05 0A 00 A5 30 FF 1F 05 00 C6 30 00 00 09 00 C6 30 00 00 0D 00 C6 30 00 00 11 00 C6 30 00 00 15 00 C6 30 00 00 19 00 C6 30 00 00 1D 00 C6 30 00 00 21 00 C6 30 00 00 25 00 C6 30 00 00 29 00 C6 30 00 00 2D 00 C6 30 00 00 31 00 C6 30 00 00 05 00 DE 30 00 00 06 00 DE 30 00 00
CFG-VALGET - 06 8B FE 01 01 00 40 04 07 00 DE 30 00 00 0A 00 F6 30 00 00 0B 00 F6 30 00 00 03 00 03 40 00 00 00 00 04 00 03 40 00 00 00 00 05 00 03 40 00 00 00 00 09 00 03 40 00 00 00 00 0A 00 03 40 00 00 00 00 0B 00 03 40 00 00 00 00 0F 00 03 40 00 00 00 00 10 00 03 40 00 00 00 00 11 00 03 40 00 00 00 00 02 00 05 40 40 42 0F 00 03 00 05 40 40 42 0F 00 04 00 05 40 00 00 00 00 05 00 05 40 A0 86 01 00 06 00 05 40 00 00 00 00 24 00 05 40 01 00 00 00 25 00 05 40 01 00 00 00 64 00 11 40 00 00 00 00 65 00 11 40 00 00 00 00 66 00 11 40 00 00 00 00 67 00 11 40 00 00 00 00 68 00 11 40 00 00 00 00 69 00 11 40 00 00 00 00 6A 00 11 40 00 00 00 00 C1 00 11 40 00 00 00 00 C2 00 11 40 10 27 00 00 D1 00 11 40 00 00 00 00 D2 00 11 40 00 00 00 00 D3 00 11 40 00 00 00 00 21 00 24 40 00 00 00 00 22 00 24 40 00 00 00 00 23 00 24 40 00 00 00 00 31 00 24 40 00 00 00 00 32 00 24 40 00 00 00 00 33 00 24 40 00 00 00 00 41 00 24 40 00 00 00 00 42 00 24 40 00 00 00 00 43 00 24 40 00 00 00 00 51 00 24 40 00 00 00 00 52 00 24 40 00 00 00 00 53 00 24 40 00 00 00 00 12 00 34 40 F0 F1 FF FF 13 00 34 40 30 2A 00 00 01 00 52 40 00 08 07 00 01 00 53 40 00 96 00 00 28 00 A3 40 00 00 00 00 2A 00 A3 40 00 00 00 00 2B 00 A3 40 00 00 00 00 41 00 A3 40 00 00 00 00 42 00 A3 40 D0 07 00 00 43 00 A3 40 E8 03 00 00 44 00 A3 40 F4 01 00 00 4C 00 A3 40 00 04 04 00 4D 00 A3 40 B0 00 00 00 01 00 A4 40 00 60 E3 16 02 00 A4 40 00 60 E3 16 03 00 A4 40 00 B0 71 0B 04 00 A4 40 00 60 E3 16 05 00 A4 40 00 20 A1 07 06 00 A4 40 80 1A 06 00 07 00 A4 40 00 20 A1 07 08 00 A4 40 00 90 D0 03
CFG-VALGET - 06 8B 90 02 01 00 80 04 09 00 A4 40 00 90 D0 03 0A 00 A4 40 00 20 A1 07 0B 00 A4 40 00 90 D0 03 0C 00 A4 40 00 24 F4 00 0D 00 A4 40 E0 87 F4 02 10 00 A4 40 00 B0 71 0B 01 00 A5 40 01 00 00 00 05 00 A5 40 FF FF FF 1F 06 00 A5 40 FF FF FF FF 07 00 A5 40 FF FF FF FF 08 00 A5 40 FF FF FF FF 09 00 A5 40 FF FF FF FF 01 00 A6 40 00 00 00 00 34 00 C6 40 0F 00 00 00 14 00 D0 40 3C 00 00 00 15 00 D0 40 30 00 00 00 08 00 DE 40 00 00 00 00 2A 00 05 50 00 00 00 00 00 00 00 00 2B 00 05 50 00 00 00 00 00 00 24 40 62 00 11 50 00 00 00 40 A6 54 58 41 63 00 11 50 88 6D 74 96 1D A4 72 40 06 00 36 50 C8 2B 07 00 00 00 00 00 0D 00 65 50 75 2D 62 6C 6F 78 20 41 0E 00 65 50 47 20 2D 20 77 77 77 2E 0F 00 65 50 75 2D 62 6C 6F 78 2E 63 10 00 65 50 6F 6D 00 00 00 00 00 00 11 00 65 50 75 2D 62 6C 6F 78 20 47 12 00 65 50 4E 53 53 20 72 65 63 65 13 00 65 50 69 76 65 72 00 00 00 00 14 00 65 50 00 00 00 00 00 00 00 00 15 00 65 50 00 00 00 00 00 00 00 00 16 00 65 50 00 00 00 00 00 00 00 00 17 00 65 50 00 00 00 00 00 00 00 00 18 00 65 50 00 00 00 00 00 00 00 00 26 00 A3 50 20 40 00 00 54 00 00 00 49 00 A3 50 5A 45 44 2D 46 39 50 00 03 00 A5 50 4D 77 35 A3 ED 01 00 00 07 00 C6 50 00 00 00 00 00 00 00 00 0B 00 C6 50 00 00 00 00 00 00 00 00 0F 00 C6 50 00 00 00 00 00 00 00 00 13 00 C6 50 00 00 00 00 00 00 00 00 17 00 C6 50 00 00 00 00 00 00 00 00 1B 00 C6 50 00 00 00 00 00 00 00 00 1F 00 C6 50 00 00 00 00 00 00 00 00 23 00 C6 50 00 00 00 00 00 00 00 00 27 00 C6 50 00 00 00 00 00 00 00 00 2B 00 C6 50 00 00 00 00 00 00 00 00 2F 00 C6 50 00 00 00 00 00 00 00 00 33 00 C6 50 00 00 00 00 00 00 00 00 04 00 C7 50 43 30 39 39 00 00 00 00 05 00 C7 50 6D 62 65 64 00 00 00 00 06 00 C7 50 73 61 76 65 64 21 00 00 07 00 C7 50 00 00 00 00 00 00 00 00 02 00 F6 50 00 00 00 00 00 00 00 00 03 00 F6 50 00 00 00 00 00 00 00 00 04 00 F6 50 00 00 00 00 00 00 00 00 05 00 F6 50 00 00 00 00 00 00 00 00 06 00 F6 50 00 00 00 00 00 00 00 00 07 00 F6 50 00 00 00 00 00 00 00 00 08 00 F6 50 00 00 00 00 00 00 00 00

ZED-F9P HPG 1.30 firmware 23-Dec-2021

RTKサポート

本体のRTKエンジンを使用　1

STRSR 　（例　RTK2GO又は善意の基準局掲示板より近くの基準局を設定
Input NTRIP clientを設定　NTRIP Caster host:アドレス Port:ポート Mountpoint:XXXXXX User-ID:XXXX Password:XXXXX
Output GR-901が接続されたUSB　COMポート　Port：　Bitrate：460800　8:n:1:n　output received stream to tcp port : 52101
SerialをTCPポートへ転送します。

本体のRTKエンジンを使用　2

u-center NTRIP client settings
RTK2GO　サーバー
基準局の位置情報　Long・Lat・Height

本体のシリアルポートへRTCMデータが入力されるとオレンジLEDが点滅はじめ、FIXにて点灯状態になります。

RTCM3.3出力メッセージサンプル
      		  
D3,00,41,46,70,00,2A,5E,EA,EC,00,00,00,84,08,00,00,00,00,00,20,00,00,00,77,C7,E4,90,00,BD,14,53,C8,06,F0,1E,7F,DB,0C,A5,C1,1C,F7,E2,EC,B0,2F,1B,E0,53,B0,2F,8A,7F,F8,75,C8,82,44,40,F0,62,08,F9,4A,2C,E6,70,1A,74,C9,
D3,00,04,4C,E0,00,80,ED,ED,D6,
D3,00,7E,FE,80,00,01,00,00,22,A5,FC,5A,C0,06,D9,58,3D,1E,03,E6,AD,9D,A5,91,3F,76,F5,3E,00,01,8F,FF,FF,53,FF,FF,52,00,00,00,00,00,00,00,00,00,00,00,02,D0,2A,7F,FF,FF,FF,CD,DF,FF,FF,FF,FF,DA,4A,D0,00,00,00,05,3C,50,00,00,00,00,BC,EA,00,00,00,01,53,AE,C0,00,00,07,CB,28,C0,00,00,04,03,3E,80,00,00,04,53,4F,00,00,00,58,81,D5,FF,FF,FF,A7,32,50,00,00,01,65,D4,20,00,00,00,00,00,00,00,00,00,00,B9,46,9A,
D3,00,26,FE,80,01,00,00,00,22,A5,FC,73,C0,00,00,04,00,00,01,C2,00,02,02,00,00,00,00,00,03,00,06,14,00,03,06,00,09,88,00,03,EC,43,1A,
D3,00,5F,43,50,00,2A,5F,C7,3E,00,00,22,50,08,00,00,00,00,00,20,00,00,00,7D,19,15,29,0D,18,00,00,35,A7,93,C4,F9,8D,40,41,BF,1A,F7,D8,0A,80,3D,41,C8,28,65,48,47,CE,BC,A2,CA,49,E2,48,06,98,EC,19,3D,38,19,6D,28,28,4F,30,20,C0,BE,1E,7E,17,76,DD,E0,05,A1,50,3C,15,04,40,12,FF,8D,36,5D,F3,0D,25,8A,80,77,A4,7A,
D3,00,41,43,F0,00,43,BE,FB,FE,00,00,0C,00,08,00,00,00,00,00,20,00,00,00,74,54,14,2D,89,3A,C4,C0,5B,DE,A0,0F,01,87,27,08,E0,A2,54,CD,12,30,94,AD,E0,13,EE,0F,33,1D,29,1D,37,69,C5,40,F0,3C,17,E7,0C,8E,02,1B,6C,BD,54,
D3,00,33,44,90,00,2A,5F,C7,3E,00,00,00,04,00,20,00,00,00,00,20,00,00,00,6A,09,A0,18,FB,0F,F6,98,19,A2,3B,72,18,E3,80,90,B8,00,6B,FC,51,0C,4C,50,18,06,30,03,80,
A0,24,EB,00,
D3,00,41,46,70,00,2A,5E,EC,7C,00,00,00,84,08,00,00,00,00,00,20,00,00,00,77,C7,E4,90,00,BD,14,53,C8,06,F0,1E,7F,DB,07,BB,A0,C8,13,E4,93,A0,1B,81,00,3E,6F,DF,91,12,28,75,C8,82,44,40,F0,62,09,C3,C8,D3,65,35,65,B6,5E,
D3,00,04,4C,E0,00,80,ED,ED,D6,
D3,00,7E,FE,80,00,01,00,00,22,A5,FC,73,C0,06,D9,58,3D,1C,C3,E6,AD,9D,AC,11,3F,76,F5,14,00,00,7E,00,00,0F,FF,FD,42,00,00,00,00,00,00,00,00,00,00,00,02,CF,E9,7F,FF,FF,FF,CD,E3,BF,FF,FF,FF,DA,4E,E8,00,00,00,05,3B,F2,00,00,00,00,BC,BA,80,00,00,01,53,C1,A0,00,00,07,CA,B0,40,00,00,04,03,39,00,00,00,04,52,F6,00,00,00,58,83,75,FF,FF,FF,A7,24,34,00,00,01,65,FB,70,00,00,00,00,00,00,00,00,00,00,47,46,2F,

TouchRTKstation Raspberry Pi

TouchRTKstationログubxをuc2に変換してu-center2で再生

Raspberry Pi3+GR-901V+Ntrip RTCM3+str2str+TouchRTKstation+WindowsPC NMEAモニタ

Raspi　USB　/ttyAM0　460800
RTKLIB/app/str2str/gcc/ ./str2str -in ntrip://guest:guest@add:port/mount-point -out serial://ACM0:460800 　ターミナルより実行

Touch RTK station Base config input Port ttyACM0 460800 Output1 TCP server UBX Port 52001

PC から　NMEA monitorを起動　入力ポート　TCP　TCPhost　アドレス　TCPポート52001　で接続

Raspi TouchRTKStation 設定

Raspberry Pi3+タッチスクリーン+GR-901V

Raspberry Pi ImagerでOSをマイクロSDカードに書き込みます。
タッチスクリーンも接続します。LCDドライバー設定は全てインストールしてから行った方が楽です。
書き込み終了後SSH接続できるようsshファイル（空）を作成しSSHターミナルで接続
IPアドレスが不明の場合はAdvanced IP Scannerでローカル内を検索します。
細かな設定は省略しますが、raspi-configでVNCの接続設定
Display Optionsで好みの解像度に設定
VNC ViewerをPCにインストール
Vsftpdインストール　rootでログインできるようにしておくと便利です。

TouchRTKstationインストール

cd /home/pi/
git clone https://github.com/taroz/TouchRTKStation.git
cd /home/pi/TouchRTKStation/install
sudo sh Install.sh 自動的に再起動
sudo python3 /home/pi/TouchRTKStation/TouchRTKStation.py
cd /home/pi/TouchRTKStation/install
sudo sh Autostart.sh

TouchRTKStationを起動すると　libEGLエラーが表示されることがあります。

＞＞　libEGL warning: DRI2: failed to authenticate, Raspbian Stretch
su -
libEGL.soとlibGLESv2.soをfindして　以下の4つのlnを作成します。（強制的にシンボリック）
ln -fs /usr/lib/chromium-browser/swifthader/libEGL.so /usr/lib/arm-linux-gnueabihf/libEGL.so
ln -fs /usr/lib/chromium-browser/swifthader/libEGL.so /usr/lib/arm-linux-gnueabihf/libEGL.so.1

ln -fs /usr/lib/chromium-browser/swifthader/libGLESv2.so /usr/lib/arm-linux-gnueabihf/libGLESv2.so
ln -fs /usr/lib/chromium-browser/swifthader/libGLESv2.so /usr/lib/arm-linux-gnueabihf/libGLESv2.so.2

インストール&起動を確認したら　TouchRTKStation.pyを設定します。GR-901は460800bpsの為serialポートの設定を追加します。

# ublox command file for Base/Rover mode
ubxcmd = dirtrs+'/conf/ubx_gr901_10.cmd'#

# serial port settings
    serial_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
    serial_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400','460800'])
    ____________________________________________________________________________
    # 460800を追加した場合は
    #RTKLIB/src/stream.c　
    #const int br[]={
        #300,600,1200,2400,4800,9600,19200,38400,57600,115200,230400,460800
    #};
    #const speed_t bs[]={
       # B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600,B115200,B230400,B460800
    #};
    
    #serial bpsを追加
    ____________________________________________________________________________
    
    
    serial_bytesize = (['7 bits','8 bits'])   #[7 8]
    serial_parity = (['None','Even','Odd'])   #[n e o]
    serial_stopbits = (['1 bit','2 bits'])    #[1 2]
    serial_flowcontrol = (['None','RTS/CTS']) #[off rtscts]     		   
      		   
# Default Input stream configration
input_iport= 2         # ttyACM0
input_ibitrate = 11     # 
input_ibytesize = 1    # 8 bit
input_iparity = 0      # None
input_istopbits = 0    # 1 bit
input_iflowcontrol = 0 # None

# Default Correction stream configration
corr_flag = True
corr_type = (['NTRIP Client','TCP Client'])
corr_itype = 0#NTRIP
corr_format = (['RTCM2','RTCM3','BINEX','UBX'])
corr_iformat = 1#RTCM3
corr_user = 'user'
corr_addr = 'NTRIPサーバーアドレス'
corr_port = ポート'
corr_pw = 'password'
corr_mp = 'マウントポイント'

# Default Output stream configration
output_flag = True
output_type=(['TCP Server','NTRIP Server','NTRIP Caster'])
output_itype = 0    # TCP Server
output_format = (['UBX','RTCM3'])
output_iformat = 0  # UBX
output_user = ''
output_addr = 'localhost'
output_port = '2101'
output_pw = ''
output_mp = ''

※タッチ画面の回転も可能です。（270度の場合）

HDMI_mode=の下に
display_rotate=3#90は1

cd /usr/share/X11/xorg.conf.d

40-libinput.conf
Section　InputClass
Identifier....　touchscreen#　＜＜
MatchIsTouchscreen="on"#の下に
Option "TransformationMatrix" "0 -1 1 1 0 0 0 0 1"
#90度は　0 1 0 -1 0 1 0 0 1
#180度は　-1 0 1 0 -1 1 0 0 1

TouchRTKStationがフルスクリーンなので画面サイズを変更。ターミナル等使用できるようになります。

また　デスクトップに起動用のコマンドファイルを作成しておくと画面タッチだけですべて操作でき便利です。

 
 self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
 self.setGeometry(100, 100, 480, 320) # For debug　←この行のコメントを外す
 #self.showFullScreen()　#　この行をコメント

TouchRTKstart.sh
#!/bin/bash
python3 /home/pi/TouchRTKStation/TouchRTKStation.py

srv2srvstart.sh
#!/bin/bash
/home/pi/RTKLIB/app/str2str/gcc/str2str -in ntrip://[guest:guest　※1]@[ntripサーバーアドレス※2]:[ポート番号※]/[マウントポイント※] -out serial://ttyACM0:460800
※1　ユーザーID：パスワード
※2　ntripサーバーアドレス　rtk2go.comなど
※ポート番号2101など
※マウントポイント

※u-center ver21.05　

詳細はドキュメントdatasheet F/W 1.00 HPG 1.13 　（ZED-F9P-02B_DataSheet_UBX-21023276）などをご参照下さい。

GR-901U GNSSレシーバーUSB

GR-901U GNSSレシーバー USB

本体及び付属品

特徴

ZED-F9P搭載アンテナ内蔵一体型GNSSレシーバー USBインターフェイス

GPSGNSS仕様

GR-901U/V (Ucustomized) GNSS USB

Windows10セットアップ (u-center/USB serial driver)

u-centerインストール

VCP(COMポート）で接続する

センサードライバー

NaviViewerUbインストール

GR-901U GNSSレシーバーUSB

GR-901U GNSSレシーバー USB

本体及び付属品

特徴

ZED-F9P搭載 アンテナ内蔵一体型GNSSレシーバー USBインターフェイス

GPSGNSS仕様

GR-901U/V (Ucustomized) GNSS USB

Windows10セットアップ (u-center/USB serial driver)

u-centerインストール

VCP(COMポート）で接続する

センサードライバー

NaviViewerUbインストール

ZED-F9P搭載アンテナ内蔵一体型GNSSレシーバー USBインターフェイス