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RTK Tutorial

RTK Tutorial​

1. 概述​

RTK (Real-time Kinematic) is a commonly used method for global positioning measurement that can provide centimeter-level positioning accuracy. It currently supports access to Qianxun network RTK and Ntrip RTK.

2. Interface Call Flow​

2.1 Add RTK Process Status Listener​

Example code as follows:

        RTKCenter.get().addRTKSystemStateListener(this)

2.2 Initialization​

Example code as follows:


        RTKCenter.get().init()

Note: By default, the RTK module is set to enabled state in this method.

2.3 RTK Module Enable Status​

Get the enable status of RTK, example code:


        RTKCenter.get().getAircraftRTKModuleEnabled(onSuccess = {

            //success
        }, onFailure = { code, msg ->
            //failure
        })

Set the enable status, example code:


            RTKCenter.get().setAircraftRTKModuleEnabled(isChecked, onSuccess = {
                //success
            }, onFailure = { code, msg ->
                //failure
            })

2.4 RTK Signal Mode​

Get the signal mode, example code:


        RTKCenter.get().getRTKSignalMode(onSuccess = { mode ->
            //success
        }, onFailure = { code, msg ->
            //failure
        })

Set the signal mode, example code:


         RTKCenter.get().switchRTKSignalMode(mode, onSuccess = {
            //success
        }, onFailure = { code, msg ->
            //failure
        })

2.5 RTK Signal Type​

Get the signal type, example code:

        RTKCenter.get().getRTKSignalType(onSuccess = { type ->
            //success
        }, onFailure = { code, msg ->
            //failure
        })

Set the signal type, example code:

            RTKCenter.get()
                .switchRTKSignalType(rtkSignal = type, rtkConfig = getRtkConfig(), onSuccess = {
                    //success
                }, onFailure = { code, msg ->
                   //failure
                })

Note: Setting the signal type will trigger the login operation for the corresponding RTK service.

2.6 Remove Listener​

Example code as follows:


        RTKCenter.get().removeRTKSystemStateListener(this)

3.Sample Acquisition​

Refer to RTKCenterFragment in the Sample

4.Interface Description​


/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/16
 * RTK Management Class
 */
interface IRTKCenter {

    /**
     * Initialize
     */
    fun init()

    /**
     * Destroy, release resources
     */
    fun destroy()

    /**
     * Add RTK process status listener
     * @param listener
     */
    fun addRTKSystemStateListener(listener: RTKSystemStateListener)

    /**
     * Remove RTK process status listener
     */
    fun removeRTKSystemStateListener(listener: RTKSystemStateListener)

    /**
     * Remove all RTK process status listeners
     */
    fun clearAllRTKSystemStateListener()

    /**
     * Whether RTK module is enabled
     * @param isEnabled
     * @param onSuccess
     * @param onFailure
     */
    fun setAircraftRTKModuleEnabled(
        isEnabled: Boolean,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit
    )

    /**
     * Get whether RTK module is enabled
     * @param onSuccess
     * @param onFailure
     */
    fun getAircraftRTKModuleEnabled(
        onSuccess: (Boolean) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * Switch RTK signal mode
     * @param rtkSignalMode Signal mode
     * @param onSuccess
     * @param onFailure
     */
    fun switchRTKSignalMode(
        rtkSignalMode: RTKSignalModeEnum,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * Get RTK signal mode
     * @param onSuccess
     * @param onFailure
     */
    fun getRTKSignalMode(
        onSuccess: (RTKSignalModeEnum?) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * Switch RTK signal type
     * @param rtkSignal
     * @param rtkConfig
     * @param onSuccess
     * @param onFailure
     */
    fun switchRTKSignalType(
        rtkSignal: RTKSignalEnum,
        rtkConfig: NetWorkRTKConfig,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit
    )

    /**
     * Get RTK signal type
     * @param onSuccess
     * @param onFailure
     */
    fun getRTKSignalType(
        onSuccess: (RTKSignalEnum?) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )
}

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/17
 * RTK Function System Status Listener
 */
interface RTKSystemStateListener {

    /**
     * RTK Initialization
     * @param status Status information
     */
    fun onRTKInitStatus(status: RtkSystemStatusBean?)

    /**
     * RTK Login Status
     */
    fun onLoginStatus(status: RtkSystemStatusBean?)

    /**
     * Report RTK Data
     * @param report
     */
    fun onRTKReportInfo(report: RtkReportBean?)

    /**
     * RTK Logout
     */
    fun onLogoutState()
    /**
     * Release RTK Resources
     */
    fun onDestory()
}

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/22
 */
data class NetWorkRTKConfig(
    //General Parameters
    var commonConfig: RTKCommonConfig? = null,
    //Qianxun Parameters
    var qxRtkConfig: QXRTKConfig? = null,
    //Is Qianxun
    var isQianXun: Boolean? = false
)

//General RT Parameters
data class RTKCommonConfig(
    var host: String = "",
    var port: Int = 0,
    var userName: String = "",
    var passWord: String = "",
    //This value uses AUTO or null; users can enter their own mount point but it is not recommended.
    var mountPoint: String = "AUTO"
)

//Qianxun RTK Parameters
data class QXRTKConfig(
    var key: String? = "",
    var secret: String? = "",
    var deviceType: String? = "",
    var deviceId: String? = ""
)

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/22
 */
data class RtkSystemStatusBean(
    //0: Failure, 1 Success
    var code: Int = 0,
    var msg: String = ""
)