High precision dual

frequency RTK board

Instructions for use
AK413 V1.1

2020.3
 Table of contents
一、Product introduction ............................... 1

二、product features ................................... 2

2.1 Main features .................................. 2

2.3 Main advantage ................错误！未定义书签。

三、Interface features ................. 错误！未定义书签。

3.1 Module pinout .................................. 4

3.2 Interface features ............................. 5

四、Typical application ................................. 5

4.1 High-precision positioning applications in short and medium distances ...... 5

4.2 Medium and long-distance high-precision positioning applications ........ 6

4.3 High-precision positioning application without reference station .......... 8

 高精度单频 RTK 板卡使用说明

一、Product introduction

The company's AK314 Beidou/GPS/Galileo/Glonass/QZSS four-mode

dual-frequency RTK board (hereinafter referred to as the board) is an ultra-low-cost,
low-power, high-performance real-time dynamic differential positioning board. The
highly reliable carrier phase differential technology of this board can provide
real-time centimeter-level positioning accuracy for drones, automobiles, and
surveying and mapping users.
The board can be configured as "mobile station" or "base station" working mode,
and use carrier phase difference technology to eliminate ephemeris error, ionospheric
error, troposphere error by common observation between "mobile station" and "base
station" Errors, inter-satellite clock errors and other measurement errors, and finally
obtain high-precision positioning results.
Configured as a "base station" board, the differential interface outputs
RTCM2.x/3.x standard data streams, which are compatible with most commercial
mobile stations on the market. At the same time, it provides a reference design of
network RTK, which can distribute differential data streams to all mobile stations
through the network.
Configured as a "mobile station" board, the differential interface supports
RTCM2.x/3.x differential data format, which can be connected to the user's existing
base stations of other brands or access to the national Beidou ground-based
enhancement system.
The static relative positioning accuracy of the board is <1cm, the medium
dynamic relative positioning accuracy is <5cm, and the output rate is 1~10Hz. It can
be used in a variety of scenarios and has a very high cost performance.

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 高精度单频 RTK 板卡使用说明

二、product features

2.1 Main features

The AK314 board has the following characteristics：

 Based on the U-blox F9P series product design, the board can obtain stable and
high-precision positioning results even in harsh environments.
 It supports Beidou/GPS/Galileo/Glonass four-mode joint RTK ambiguity solution,
with fast and reliable ambiguity initialization capability.
 Supports up to 10Hz data output to meet the application in general dynamic
situations.
 The board can be flexibly configured as a base station or a mobile station.
 Supports two modes of differential positioning and vector attitude measurement,
and can output high-precision positioning and orientation results at the same time.
 Fully compatible with other automatic flight control systems such as Pixhawk and
APM.
 Small size and low power consumption.
 Support secondary development and provide reference designs for various
application scenarios

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 高精度单频 RTK 板卡使用说明

2.2 The main technical parameters

Performance index

Number of receiving channels 72 channels

Received signal type GPS L1/l2, BDS B1I/ B1I, Galileo E1/E5, GLONASS L1/L2

SBAS: WASS, EGNOS, MSAS

Data output rate Maximum 10Hz

Positioning accuracy Single point positioning: 1.5m CEP

SBAS：1.0m CEP

RTK：0.01m+1ppm CEP

First location time Cold start: 26s

TTFF Hot start: 2s

recapture: 2s

Sensitivity Tracking:-167 dBm

Cold start:-148 dBm

Hot start:-157 dBm

Convergence time RTK：<40s

Effective action distance About 20Km

Functional interface

Interface type UART x2,1 differential data I/O,1 positioning data

Default 38400, 8N1, configurable

1PPS Road 1

Interface protocol RTCM 3.3

NMEA

Electrical index

Operating voltage 3.0-5.0V DC

Power consumption <150mW @3.3V

LNA feed 3.3V

IO level 3.3VCMOS

Standby Power 1.4V~3.6V 22uA

Physical properties

Physical dimensions 50x30x5.5mm

Operating temperature -30°C~+70°C

Storage temperature -40°C~+85°C

Functional characteristics

Antenna Active antenna

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 高精度单频 RTK 板卡使用说明

三、Interface features

3.1 structure size

PCB long：50mm*30mm

3.1 Module pinout

Pin number Signal name Signal description

1 VCC Com1 main power input

2 GND Com1 module ground

3 TXD 1 Main serial port (com1) data transmission, output when configured as "rover"Positioning

result in NMEA0183 format, output when

configured as "base station" RTCM2.x/3.x format differential data stream.

4 RXD 1 The main serial port (com1) receives data and configures the command input port.

5 NC

6 GND Com2 module ground

7 TXD 2 Com2 output interface

8 RXD 2 Differential serial port (com2) data input, only valid when configured as "rover station",

accepts RTCM2.x/3.x format differential data input.

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 高精度单频 RTK 板卡使用说明

3.2 Interface features

Name Symbol Minimum Typical value Maximum value Unit

Main power VCC 2.7 3.3 5.0 V

Backup power VBAT 1.4 3.3 3.6 V

RF port feed VRF 3.0 3.1 3.3 V

Input high level VIH 2.0 V

Input low level VIL 0.7 V

Output high level VOH 3.2 0.1 V

Output low level VOL V

Main serial port baud rate Baud 38400 bps

Differential wave rate Baud 38400 bps

四、Typical application

4.1 High-precision positioning applications in short and medium distances

In the application of high-precision positioning in short and medium distances

(<3km), the module cooperates with the data transmission module, and only needs to
add a small amount of external circuits to form a complete high-precision positioning
system, which is suitable for the application of a large number of mobile stations in a
small area , and the module is fully compatible with other automatic flight control
systems such as Pixhawk and APM. The schematic diagram is as follows:

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 高精度单频 RTK 板卡使用说明

The base station is stationary and fixed, and the differential data is broadcast to
all mobile stations through the data transmission module. The circuit block diagrams
of the rover and base station are as follows:

3 ） If the antenna coordinates are accurately known by other surveying and

mapping methods, please use the #set position command to input the antenna
coordinates into the base station module in the format of latitude and longitude;
4 ） If the antenna coordinates are unknown, please wait patiently for about 5
minutes, the module will calculate the antenna position as accurate as possible. After
the calculation is completed, the differential data port will start to output data. At this
time, the base station has recorded the coordinates and broadcast it by radio, so as to
ensure the base station as much as possible. Do not power off, because the coordinates
will be recalculated after power off, and the repeatability of the mobile station
measurement point cannot be guaranteed;
5）Install the mobile station antenna on the mobile carrier, and after confirming
the receipt of differential data, wait for about 120s to obtain high-precision
positioning results.

4.2 Medium and long-distance high-precision positioning applications

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 高精度单频 RTK 板卡使用说明

In the application of high-precision positioning in medium and long distances

(<10km), common data transmission modules are difficult to provide reliable
differential data connections, and the problem of packet loss is serious. To this end,
the company provides solutions based on 4G networks (below). The base station
sends the differential data to the server through the wired network and is cached by
the server. The mobile station accesses the server through the 4G network to obtain
differential data. This solution can greatly expand the scope of the base station, and
the mobile station equipped with a 4G network card can simultaneously send back the
positioning results to the designated server.

The circuit block diagram of the mobile station is as follows:

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 高精度单频 RTK 板卡使用说明

In practical applications, the number of mobile stations that the server can access
at the same time is only limited by the performance of the server, which is more
suitable for a large number of users. Requirements between the server and the base
station: The server can be directly accessed on the public network (with a public IP),
and a network connection can be established between the base station and the server
(either through the public network or a local area network).

4.3 High-precision positioning application without reference station

In the application of high-precision positioning without a reference station, the

module needs to cooperate with the 4G communication module to obtain differential
data. We provide Qianxun's differential data source across the country. At this time,
users can obtain high-precision positioning results without deploying base stations.
The circuit block diagram is as follows: