ROS Uart Package of GNSS

1 The overview of our GNSS/INS-RTK

The GNSS/INS-RTK that we use is the CH310S_4G of HiPNUC. CH310S is a high-performance and high-precision single antenna GNSS/INS-RTK integrated navigation system that utilizes high-performance IMU, full frequency RTK-GNSS system, odometer and other sensors, and is equipped with self-developed data fusion algorithms. It can output real-time navigation information such as position, speed, and attitude timing.

2 GIR_uart Compilation Process

We have designed a ROS package based on the serial port protocol of CH310S_4G, which can read and convert serial port information into rostopic. Here are the steps to compile and use the GIR_uart:

2.1 Requirement

(1)This package uses serial.


            sudo apt-get install ros-[your ros edition]-serial

2.2 Build GIR_uart


            cd ~/catkin_ws/src

            git clone https://github.com/Huang-shulei/GIR_uart.git

            cd ~/catkin_ws

            catkin_make

            source ~/catkin_ws/devel/setup.bash

2.3 Run GIR_uart


            rosrun GIR_uart uart_node

3 The topic list of GIR_uart


            /IMU (Raw information of 6-axis IMU)

            /GNSS_RTK (RTK positioning information, including longitude, latitude, and altitude)

Image description — Fig. 1. The topic list of GIR_uart