b) GNSS 2: Green - Fixed, Yellow - Float, Orange - Single, Gray - No data.
c) NTRIP stability: Green - Good, Yellow - Warn, Orange - Poor, Gray - No data.
4. Signal levels: histogram of the number of GNSS signals and their corresponding
signal levels (measured as the carrier to noise ratio in dB Hz). The coloured bars
represent the number of signals used in navigation and the gray ones represent the
total number of signals tracked. The color scheme used for this histogram corre-
sponds to:
a) Reds: low signal levels, typically unusable or imprecise
b) Greens: good signal levels (40+ dBHz)
5. NTRIP correction stream stability and latency statistics:
a) Latency: measured by comparing the timestamp of the RTCM3 messages to
the system time.
b) Update rate: indicates how many sets of correction measurements are re-
ceived per second. Different RTK services have different update rates. Typi-
cally it is 1 Hz nominal, but the sensor supports from 0.5 up to 2 Hz.
c) Data rate: indicates how much data is received per second. Typically, between
0.5 to 1.5 KB/s.
d) Stability indicators: Green - Good, Yellow - Warn, Orange - Poor, Gray - No
data. These values are based on thresholds. For “good” stability, the update
rate should be higher than 0.25Hz, the latency lower than 5s, and the maximum
latency lower than 10s.
e) The rows will only become available when the stream has run long enough.
Changing the NTRIP configuration, internet outages, web interface disconnec-
tion, etc., can lead to artifacts.
6. Expert mode toggle: Display additional information in the tables
7. GNSS fix types: they can be one of the following:
a) No fix – the GNSS receiver has no fix at all.
b) Dead-reckoning – The GNSS receiver has lost the fix and is extrapolating the
movement.
c) Single 2D – autonomous GNSS fix, 2D as only a few signals are available.
d) Single 3D – autonomous GNSS fix. Typical situation if no RTK correction data
is available.
e) RTK float – real-time kinematic fix with ambiguities not fully solved.
f) RTK fixed – real-time kinematic fix with ambiguities fully solved.
8. Update indicators: these indicators blink whenever the data is updated.
a) For GNSS 1 and GNSS2, the indicator blinks at 1 Hz; more or less in sync.
b) The NTRIP indicator blinks at 0.2 Hz (every 5 seconds).
Vision-RTK 2 | Fixposition Positioning Sensor 48
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