Septentrio AsteRx SBi3 Pro+ RTK status jumps and GNSS/INS data invalid with ROS driver

[hangcui1201]

Hi,

We are using the septentrio_gnss_driver v1.3.2 (https://github.com/septentrio-gnss/septentrio_gnss_driver/releases/tag/v1.3.2) for AsteRx SBi3 Pro+ on Ubuntu 2.04 with ROS Noetic. We used the USB interface with AsteRx SBi3 Pro+.

We had two issues related to RTK and GNSS/INS output data. Before we use the device, I did the device initialization from this link (https://customersupport.septentrio.com/s/article/How-to-initialize-the-IMU-of-your-Septentrio-GNSS-INS-solution).

(1) We used HxGN SmartNet RTK service. We had the RTK Fixed worked. However, we found that whenever we drove our vehicle around, the RTK fixed status jumps to Disabled and the GNSS/INS output data also drifted

Note: I understand that which ROS topic to read for the status of the GNSS/INS, such as RTK float, RTK fixed, or no RTK in previous post. We checked the Internet connect, it was good for the 4G/LTE module.

(2) We also found that the GNSS/INS data became invalid quite often when we drove the vehicle outside. Sometime the invalid data stayed for quite a long time or never getting back to the normal values.

We also posted our recorded video here: https://youtu.be/jCihYPSxACE

We configured the AsteRx SBi3 Pro+ device through the webGUI, not the ROS driver as belows.

Any suggestion on above issues?

Thanks a lot for the help!

Best,
Hang

[hangcui1201]

Hi,

Following the previous post, we also found the Main and Aux1 signals were pretty bad. However, Main & Aux1 RF power were good. We used TW7972 triple band GNSS antennas. Any suggestions?

Thanks!

Best,
Hang

[thomasemter]

Hi Hang,

this does not seem to be driver related and I believe Septentrio's support is more proficient to help in this case.

Best regards,
Thomas

[hangcui1201]

Hi Thomas,

Thanks a lot! I will submit a problem to the Septentrio's support.

Best,
Hang