RTK Base Documentation¶
Welcome to the RTK Base documentation portal! This site provides comprehensive technical documentation for the Yamabiko RTK Base hardware and firmware.
About RTK Base¶
The RTK (Real-Time Kinematic) Base is a high-precision GNSS (Global Navigation Satellite System) reference station designed for outdoor robotic applications. It provides centimeter-level accuracy positioning corrections to robotic mowers and other autonomous equipment.
Key Features¶
- High Precision Positioning: Supports GPS, GLONASS, Galileo, BeiDou, QZSS, and NAVIC constellations
- Multiple Connectivity Options: Ethernet, WiFi AP/STA, 4G LTE (via Teltonika router)
- Flexible Data Distribution: MQTT over TLS, UDP sockets, TCP API
- Survey-in Mode: Automatic precision position determination (90 seconds with Fast SVIN)
- Web-based Configuration: Intuitive web interface for all settings
- Production Ready: Automated testing and calibration workflows
- Robust Hardware: Industrial-grade components for outdoor deployment
Supported Hardware¶
- ZED-F9P: Standard high-precision GNSS module
- ZED-F20: Next-generation triple-band GNSS support
- Teltonika RUT240/RUT200: Industrial 4G routers
- ESP32: Main processing unit with WiFi/BT
Current Version¶
Latest Release: v4.0.2
Key highlights in v4.0.x:
- Unified Fast SVIN UI (90 second survey-in)
- Automatic migration from v3.x to v4.x with delta correction
- Reverse Gateway support for TM8x0+MAIO robot integration
- ZED-F20 dual/tri-band display support
See Release Notes for complete version history.
Documentation Structure¶
Getting Started¶
New to RTK Base? Start here:
User Guide¶
Practical guides for daily operations:
- Console Commands - CLI reference and hardware connection
- Production Flow - Manufacturing and testing procedures
- Build & Flash Station - Firmware development guide
API Reference¶
Complete API documentation:
- REST API - HTTP endpoints for configuration and monitoring
- MQTT API - MQTT topics for real-time communication
Technical Reference¶
Deep dive into system internals:
- Architecture - Software architecture and state machines
- Fast SVIN - Accelerated survey-in technical details
- Task Priorities - RTOS task configuration
- TCP API - Direct TCP socket interface
Quick Links¶
- Repository: gitlab.com/yamabiko/connected/rtk-base
- Latest Release: v4.0.2
- Hardware: ZED-F9P / ZED-F20 with ESP32 controller
- Connectivity: Ethernet, WiFi, 4G LTE
Support¶
For technical support, please refer to the Troubleshooting section or contact the Yamabiko Europe RTK team.
Let's build precision positioning solutions together!