RTK Basestation with Raspberry PI and Touch TFT

This Base Station is transmitting 1004,1019,1012,1020,1006,1008 RTCM3 Messages by default
Other messages can be configured in /home/pi/RTK/bin/startup

Supported Messages (depends on GPS Receiver)

1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1019, 1020, 1033, 1044, 1045, 1047


- Raspberry PI 2 (Model B)
- 8GB SD-Card or greater
- RAW Data enabled GPS Receiver from uBlox, NVS or SkyTraq
- Tallysman TW3430 GNSS Antenna http://www.tallysman.com/TW3430.php (or sililar)
- XBee-Pro Module at 57600Bps
- USB Adaptor Board for XBee-Pro eg. https://www.sparkfun.com/products/11812
- C-Berry Touch TFT-Display http://bit.ly/1HfPCgt

Only the C-Berry Touch TFT-Display is supported !!!

Raspberry PI installation

- Download latest Raspbian SD-Card image http://downloads.raspberrypi.org/raspbian_latest
- Install Image to SD-Card
- 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)

wget http://uav.wtns.de/rtk/base-2.0.1/rtk-install.sh
chmod 755 rtk-install.sh

The Files will be downloaded and installed for you.

Do not forget to edit the following configuration files about your need



Here you can configure some basic settings, like the used receiver, Station-ID, Station-Receiver and Station-Antenne descriptor.
The Parameters pos_1_*, pos_2_* and pos_3_* for storing predefined Locations. They can called and activated from the main menu (Gear).
Parameter pos_0_* will be set with the measured position from rtkrcv (satellite icon in main menu)


In the section STR2STR (Lines 58 - 66) you can configure the STR2STR with your receiver, ports and needed messages


This is the configuration for the RTKRCV program. It should be configured to the used serial ports and their speed.

Now you can reboot your Raspberry

sudo reboot

Installing Hardware

Connet the C-Berry Touch TFT to the Raspberry PI 2 as described in the C-Berry manual

Connect the GPS Receiver to the Raspberry via USB

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


Install the Antenna on a good Tripod, and connect the Antenna to the GPS-Receiver.
Power on your Raspberry PI 2 and wait until you see the main menu on the TFT-Display

Satellite: starts the rtkrcv programm to measure own position
Antenna: starts the str2str program (basestation mode)
Gear: here you can choose which position you want to use for the basestation.
Powerbutton: here you can shut down the system.

more to come ….

Source Code

coming soon…

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