87 lines
2.9 KiB
Markdown
87 lines
2.9 KiB
Markdown
# Usage
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## main.py
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```
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python main.py [--project FILE] [--save FILE]
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[--network NAME HOST PORT] ...
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[--serial NAME DEVICE BAUD] ...
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[--file PATH] ...
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[--log-dir DIR] [--delay SECS]
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```
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| Option | Default | Description |
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|--------|---------|-------------|
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| `--network NAME HOST PORT` | — | Add a TCP/IP source |
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| `--serial NAME DEVICE BAUD` | — | Add a serial port source |
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| `--file PATH` | — | Add a log file for replay |
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| `--log-dir DIR` | `./log` | Directory for recorded frame logs |
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| `--delay SECS` | `1.0` | Inter-frame delay for file replay (0–10 s) |
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| `--project FILE` | — | Load config from a JSON project file |
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| `--save FILE` | — | Save current config as a JSON project file |
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Multiple `--network`, `--serial` and `--file` options can be combined freely.
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### Examples
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```bash
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# Two network receivers
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python main.py --network neo-f9p 192.168.22.93 8721 \
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--network zed-x20p 192.168.22.93 8731
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# Save config to project file
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python main.py --network neo-f9p 192.168.22.93 8721 --save project.json
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# Load from project file
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python main.py --project project.json
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# Replay a recorded log at 0.5 s per frame
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python main.py --file log/2026_05_25_11_05_19_neo-f9p.log --delay 0.5
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# Mix live network source with file replay
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python main.py --network zed-x20p 192.168.22.93 8731 \
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--file log/2026_05_25_11_05_19_neo-f9p.log
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```
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### Project file format (JSON)
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```json
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{
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"log_dir": "./log",
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"delay": 1.0,
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"sources": [
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{"type": "network", "name": "neo-f9p", "host": "192.168.22.93", "port": 8721},
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{"type": "serial", "name": "gps1", "device": "/dev/ttyUSB0", "baudrate": 115200},
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{"type": "file", "path": "log/2026_05_25_11_05_19_neo-f9p.log"}
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]
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}
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```
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---
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# NEO-F9P
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## Data sheet
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https://content.u-blox.com/sites/default/files/documents/NEO-F9P-15B_DataSheet_UBX-22021920.pdf?utm_content=UBX-22021920
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## Integration Manual
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https://content.u-blox.com/sites/default/files/documents/NEO-F9P_IntegrationManual_UBX-22028362.pdf
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## Interface spec
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https://content.u-blox.com/sites/default/files/documents/u-blox-F9-HPG-L1L5-1.40_InterfaceDescription_UBX-23006991.pdf?utm_content=UBX-23006991
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# ZED-20P
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## Data sheet
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https://content.u-blox.com/sites/default/files/documents/ZED-X20P-00B_DataSheet_UBXDOC-963802114-12690.pdf
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## Integration Manual
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https://content.u-blox.com/sites/default/files/documents/ZED-X20P_IntegrationManual_UBXDOC-963802114-12901.pdf?utm_content=UBXDOC-963802114-12901
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## Interface spec
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https://content.u-blox.com/sites/default/files/documents/u-blox-20-HPG-2.00_InterfaceDescription_UBXDOC-304424225-19888.pdf?utm_content=UBXDOC-304424225-19888
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# Real time Kinematics
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## ESA Article
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https://gssc.esa.int/navipedia/index.php?title=Real_Time_Kinematics
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# RTCM 3.0
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## Overview
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https://www.geopp.de/pdf/gppigs06_rtcm_f.pdf
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## Cheat sheet
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https://www.use-snip.com/kb/knowledge-base/an-rtcm-message-cheat-sheet/
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