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In addition to providing accurate local location fixes, the SparkFun RTK devices can also serve as a correction source, also called a *Base*. The Base doesn't move and 'knows' where it is so it can calculate the discrepancies between the signals it is receiving and what it should be receiving. These differences are the correction values passed to the Rover so that the Rover can have millimeter level accuracy.
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In addition to providing accurate local location fixes, the SparkFun RTK devices can also serve as a correction source, also called a *Base*. The Base doesn't move and 'knows' where it is so it can calculate the discrepancies between the signals it is receiving and what it should be receiving. Said differently, the 'Base' is told where it is, and that it's not moving. If the GPS signals say otherwise, the Base knows there was a disturbance in the ~~Force~~ Ionosphere. These differences are the correction values passed to the Rover so that the Rover can have millimeter level accuracy.
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There are two types of bases: *Surveyed* and *Fixed*. A surveyed base is often a temporary base setup in the field. Called a 'Survey-In', this is less accurate but requires only 60 seconds to complete. The 'Fixed' base is much more accurate but the precise location at which the antenna is located must be known. A fixed base is often a structure with an antenna bolted to the side. Raw satellite signals are gathered for a few hours then processed using Precision Point Position. We have a variety of tutorials that go into depth on these subjects but all you need to know is that the RTK Facet supports both Survey-In and Fixed Base techniques.
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Please see the following tutorials for more information:
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The Base Menu allows the user to select between Survey-In or Fixed Base setups.
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/8/5/7/SparkFun_RTK_Express_-_Base_Menu.jpg)
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*Base Menu Options*
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/RTK_Surveyor_-_WiFi_Config_-_Base_Config1.jpg)
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*Controlling the type of Base from WiFi AP Config*
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/8/5/7/SparkFun_RTK_Express_-_Base_Menu.jpg)
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*Base Menu Options*
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## Mode
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In **Survey-In** mode, the minimum observation time and Mean 3D Standard Deviation can be set. The defaults are 60s and 5m as directed by u-blox. The device will wait for the position accuracy to be better than 1 meter before a Survey-In is started. Don't be fooled; setting the observation time to 4 hours or an initial positional accuracy of 0.3m is not going to significantly improve the accuracy of the survey - use [PPP](https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station#gather-raw-gnss-data) instead.
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*RTK Facet in Fixed Transmit Mode*
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Once the *survey-in* is complete the device enters RTCM Transmit mode. The number of RTCM transmissions is displayed. By default this is one per second.
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Once the *survey-in* is complete the device enters RTCM Transmit mode. The number of RTCM transmissions is displayed. By default this is one per second. During this phase the ZED-F9P is outputting the RTCM corrections out the **RADIO** port. Attaching an external serial radio to this port will allow the Base to send corrections to any Rover.
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The *Fixed Base* mode is similar but uses a structure icon (shown above) to indicate a fixed base.
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## NTRIP Server
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**NTRIP** is where the real fun begins. The Base needs a method for getting the correction data to the Rover. This can be done using radios but that's limited to a few kilometers at best. If you've got WiFi reception, use the internet!
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Enabling NTRIP will present a handful of new options seen below:
[](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/RTK_Surveyor_-_WiFi_Config_-_Base_Config2.jpg)
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*Configuring NTRIP Server settings via WiFi Config AP*
This is a powerful feature of the RTK line of products. The RTK device can be configured to transmit its RTCM directly over WiFi to the user's mountpoint. This eliminates the need for a radio link.
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Once the NTRIP server is enabled you will need a handful of credentials:
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* A casting service such as [RTK2Go](http://www.rtk2go.com) or [Emlid](http://caster.emlid.com) (the port is almost always 2101)
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* A mount point and password
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/RTK_Surveyor_-_Device_Configuration_-_NTRIP_Server_Broadcasting_v11.jpg)
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*NTRIP Server Connected!*
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/8/5/7/SparkFun_RTK_Express_-_Display_-_FixedBase-Casting.jpg)
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*RTK Facet in Transmit Mode with NTRIP Enabled*
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/RTK_Surveyor_-_Device_Configuration_-_NTRIP_Server_Broadcasting_v11.jpg)
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*NTRIP Server Connected!*
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If the NTRIP server is enabled the device will first attempt to connect over WiFi. The WiFi icon will blink until a WiFi connection is obtained. If the WiFi icon continually blinks be sure to check your SSID and PW for the local WiFi.
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Once WiFi connects the device will attempt to connect to the NTRIP mount point. Once successful the display will show 'Casting' along with a solid WiFi icon. The number of successful RTCM transmissions will increase every second.
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Every second a few hundred bytes, up to ~2k, will be transmitted to your mount point.
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Note: During NTRIP transmission WiFi is turned on and Bluetooth is turned off. You should not need to know the location information of the base so Bluetooth should not be needed. If necessary, USB can be connected to the USB port to view detailed location and ZED-F9P configuration information.
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Note: During NTRIP transmission WiFi is turned on and Bluetooth is turned off. You should not need to know the location information of the base so Bluetooth should not be needed. If necessary, USB can be connected to view detailed location information using the [System Report](https://sparkfun.github.io/SparkFun_RTK_Firmware/system_status_reporting/) command.
Because of the nature of these controls, the AP config page is different than the terminal menu.
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*System Config Menu on WiFi AP Config Page*
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### Log to SD
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If a microSD card is detected, all messages will be logged. Once the max log time is achieved, logging will cease. This is useful for limiting long term, overnight, static surveys to a certain length of time. Default: 1440 minutes (24 hours). Limit: 1 to 2880 minutes.
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### Enable Factory Defaults
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Factory Defaults will erase any user settings and reset the internal receiver to stock settings. Any logs on SD are maintained. To prevent accidental reset the checkbox must first be checked before the button is pressed.
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### SD Card
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Various stats for the SD card are shown. If valid firmware is detected, available firmware files will be shown. The user must select the firmware they would like to update to. To prevent accidental updates the checkbox must first be checked before the button is pressed.
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### Add Firmware
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New firmware may be uploaded via WiFi to the SD card. Firmware is only loaded to the SD card and must then be loaded to the unit.
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### Reset Counter
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A counter is displayed indicating the number of non-power-on-resets since the last power on.
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## Terminal Interface
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[](https://cdn.sparkfun.com/assets/learn_tutorials/2/1/8/8/SparkFun_RTK_ExpressPlus_Logging_Cyclic.jpg)
From the main menu, pressing 1 will bring up the GNSS Receiver configuration menu. The ZED-F9P is immensely configurable. The RTK device will, by default, put the ZED-F9P into the most common configuration for rover/base RTK for use with *SW Maps*.
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The ZED-F9P is immensely configurable. The RTK device will, by default, put the ZED-F9P into the most common configuration for rover/base RTK for use with *SW Maps* and other GIS applications.
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The GNSS Receiver menu allows a user to change the report rate, dynamic model, and select which constellations should be used for fix calculations.
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The GNSS Configuration menu allows a user to change the report rate, dynamic model, and select which constellations should be used for fix calculations.
*The most common settings on the RTK Device WiFi AP Config*
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From the main menu, pressing 1 will bring up the GNSS configuration menu.
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[](https://cdn.sparkfun.com/assets/learn_tutorials/2/1/8/8/SparkFun_RTK_ExpressPlus_ReceiverNTRIP.jpg)
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*GNSS menu showing measurement rates and dynamic model*
*The most common settings on the RTK Device WiFi AP Config*
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Measurement Frequency can be set by either Hz or by seconds between measurements. Some users need many measurements per second; RTK devices support up to 20Hz with RTK enabled. Some users are doing very long static surveys that require many seconds between measurements; the ZED-F9P supports up to 8255 seconds (137 minutes) between readings.
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## Measurement Frequency
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Measurement Frequency can be set by either Hz or by seconds between measurements. Some users need many measurements per second; RTK devices support up to 20Hz with RTK enabled. Some users are doing very long static surveys that require many seconds between measurements; RTK devices support up to 8255 seconds (137 minutes) between readings.
Note: When in **Base** mode, measurement frequency is set to 1Hz. This is because RTK transmission does not benefit from faster updates, nor does logging of RAWX for PPP.
From this menu a user can control the output of various NMEA, RTCM, RXM, and other messages. Any enabled message will be broadcast over Bluetooth *and* recorded to SD (if available).
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These seven sentences are commonly used when logging and doing Precise Point Positioning (PPP) or Post Processed Kinematics (PPK). You can read more about PPP [here](https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station).
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## Turn off all messages
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This will turn off all messages. This is handy for advanced users who need to start from a blank slate. This setting is only available over serial configuration.
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## Turn on all messages
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This will turn on all messages. This is a setting used for firmware testing and should not be needed in normal use. This setting is only available over serial configuration.
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## Individual Messages
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[](https://cdn.sparkfun.com/assets/learn_tutorials/1/8/5/7/SparkFun_RTK_Express_-_Messages_Menu_-_NMEA.jpg)
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*Configuring the NMEA messages*
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As mentioned is the microSD section of the [Hardware Overview](https://learn.sparkfun.com/tutorials/sparkfun-rtk-facet-hookup-guide/all#hardware-overview) there are a large number of messages supported. Each message sub menu will present the user with the ability to set the message report rate.
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As mentioned is the microSD section of the [Hardware Overview](https://sparkfun.github.io/SparkFun_RTK_Firmware/hardware_rtk_facet/#microsd) there are a large number of messages supported. Each message sub menu will present the user with the ability to set the message report rate.
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Each message rate input controls which messages are disabled (0) and how often the message is reported (1 = one message reported per 1 fix, 5 = one report every 5 fixes). The message rate range is 0 to 20.
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**Note:** The message report rate is the *number of fixes* between message reports. In the image above, with GSV set to 4, the NMEA GSV message will be produced once every 4 fixes. Because the device defaults to 4Hz fix rate, the GSV message will appear once per second.
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Each message rate input controls which messages are disabled (0) and how often the message is reported (1 = one message reported per 1 fix, 5 = one report every 5 fixes). The message rate range is 0 to 20.
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## Turn off all messages
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This will turn off all messages. This is handy for advanced users who need to start from a blank slate. This setting is only available over serial configuration.
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## Turn on all messages
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This will turn on all messages. This is a setting used for firmware testing and should not be needed in normal use. This setting is only available over serial configuration.
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## ESF Messages
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The ZED-F9R, found only on the Express Plus, supports additional External Sensor Fusion messages. These messages show the raw accelerometer and gyroscope values of the internal IMU.
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The ZED-F9R module, found only on the Express Plus, supports additional External Sensor Fusion messages. These messages show the raw accelerometer and gyroscope values of the internal IMU. These messages can consume up to 34,000 bytes of bandwidth. Please see [here](https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/81#issuecomment-1059338377) for more information.
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