Version 2.0.1 with Touch-TFT can be found here:

RTK Basestation with Raspberry PI

This Base Station is transmitting 1002,1004,1008,1019,1033,1010,1020 RTCM3 Messages
The Messages 1002 and 1010 (GPS & Glonass) will be transmitted every Second (1Hz)


- Raspberry PI (Model B)
- 4GB SD-Card or greater
- RAW Data enabled GPS Receiver NV08C-CSM-BRD -
- Tallysman TW3430 GNSS Antenna
- XBee-Pro Module at 57600Bps
- USB Adaptor Board for XBee-Pro eg.
- 3,3V Fixed Voltage Regulator
- 10uF Capacitor
- 100nF Capacitor
- 2 x 10K Resistor
- 4 x 470 Resistor
- On/Off Switch
- Momentary Switch
- Blue LED
- RGB LED (Common Cathode)

Raspberry PI installation

- Download latest Raspbian SD-Card image
- Install Image to SD-Card (follow this instructions
- Insert SD-Card into Raspberry
- Connect Raspberry to Network (DHCP)
- Connect Screen and Keyboard to Raspberry
- Power on the Raspberry and wait until you can log in.
- Log in as pi (Password is raspberry)

Expanding Filesystem to entire SD-Card

sudo raspi-config

Select expand Filesystems and go.

Reboot Raspberry

sudo reboot

Installing RTK Base to Raspberry

Please enter the following into shell (must be logged on as pi)

chmod 755

The Files will be downloaded and installed for you.

Do not forget to insert following into /etc/rc.local (sudo nano /etc/rc.local)

sudo python /home/pi/scripts/ &
sudo python /home/pi/scripts/

Now you can power off your Raspberry

sudo halt

Installing Hardware

Build a 3.3V Voltage source with the two Capacitors and Voltage Regulator. Connect the input of the Regulator to Pin2 (+5V) at the Raspberry 26Pin Connector.
Connect Ground of the Regulator to Pin6 (Raspberry).

Connect the GPS Receiver to the Raspberry:
GPS Raspberry
VCC ←→ +3,3V (Voltage Regulator
GND ←→ Pin6 of Raspberry
RX ←→ Pin8 of Raspberry
RX ←→ Pin10 of Raspberry

Pull Pin24 with the 10k Resistor to 3,3V (high)
Pull Pin26 with the 10k Resistor to 3,3V (high)

Connect Pin24 with Momentary Switch to GND
Connect Pin26 with On/Off Switch to GND

Connect Blue LED with 470 resistor to Pin7 and GND
Connect the RDB LED with 3 x 470 resistor to Pin12(red), Pin16(green), Pin18(blue) and GND

The XBee-Pro with Explorer Board have to fit into USB Jack :)


On/Off Switch: On = PPP Mode Off = Basestation Mode

Momentary Switch: System shutdown (blue LED)


Install the Antenna on a good Tripod, and connect the Antenna to the GPS-Receiver.
Set the Switch to PPP Mode, and Power on the Raspberry. After a short Time, the blue LED (System is running)
should be on. Now the Basestation is measuring its own Position with PPP. You can see the Result on the RGB Led.
- solid red = no fix
- blinking red = single fix
- blinking green = ppp fix (that is what we want !!)
- solid green = enough ppp fix data collected. Ready to go into Basestation mode.

When the RGB LED is solid green, switch the switch to Basestation mode, and press the Shutdown switch until
the blue LED is blinking three times. The system is Shutting down now. Wait until both LEDs are off. Now restart the Raspberry (powercycle) and wait until the blue LED is on, and the RGB LED is violet.
Now the System is acting as as Basestation and is sending the Correction Data (RTCM3) over the XBee Radio
to the Rover.
To shutdown the System, press the Shutdown Switch until the blue LED is blinking three times.
Wait until both LEDs are off. The System is now off.

Source Code

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