This GNSS RTK system is designed to support the navigation of Automated Guided Vehicles (AGVs) by providing high-precision location tracking. Using the SimpleRTK2B Lite module, the system receives satellite signals and processes them in real time to generate accurate movement paths and enable proximity-based navigation logic.
GitHub : https://github.com/SupakunZ/GNSS_RTK
This section explains the core components of the system and how they work together to process GNSS-RTK signals and control AGV movement.
| Module | Description |
|---|---|
| RTK Receiver | Captures high-precision GNSS data via satellite and sends it to the computer. |
| Python Script | Parses NMEA messages and processes current coordinates. |
| TXT File | Stores the predefined route (waypoints) for the AGV to follow. |
| Comparison Logic | Calculates distance from current position to next waypoint. |
| GUI (Tkinter) | Displays real-time location and status on a map interface. |
Workflow included 5 steps
| Step | Process | Description |
|---|---|---|
| 1️⃣ | Receive GNSS Data | The RTK Receiver captures GNSS data and sends it via serial connection. |
| 2️⃣ | Parse & Compare Path | The Python script parses incoming NMEA data and compares with waypoints from the TXT file. |
| 3️⃣ | Check distance (< 10 m) | If AGV is within 10 meters of a waypoint, the point is considered "reached". |
| 4️⃣ | Switch to Next Target | The script updates to the next point in the route. |
| 5️⃣ | Render GUI Update | The Tkinter GUI displays updated position and progress on a map. |