RTK教程

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RTK教程

1. 概述

RTK（Real-time Kinematic）即载波相位动态实时差分技术，是常用的全球定位测量方法，可提供厘米级的定位精度。目前支持机载千寻网络RTK和Ntrip RTK的接入。

2. 接口调用流程

2.1 添加RTK流程状态监听

示例代码如下：

        RTKCenter.get().addRTKSystemStateListener(this)

2.2 初始化

示例代码如下：

        RTKCenter.get().init()

注意：方法中默认设置RTK模块为启用状态。

2.3 RTK模块启用状态

获取RTK启用状态，示例代码：

        RTKCenter.get().getAircraftRTKModuleEnabled(onSuccess = {

            //success
        }, onFailure = { code, msg ->
            //failure
        })

设置启用状态，示例代码：

            RTKCenter.get().setAircraftRTKModuleEnabled(isChecked, onSuccess = {
                //success
            }, onFailure = { code, msg ->
                //failure
            })

2.4 RTK信号模式

获取信号模式，示例代码如下：

        RTKCenter.get().getRTKSignalMode(onSuccess = { mode ->
            //success
        }, onFailure = { code, msg ->
            //failure
        })

设置信号模式，示例代码如下：

         RTKCenter.get().switchRTKSignalMode(mode, onSuccess = {
            //success
        }, onFailure = { code, msg ->
            //failure
        })

2.5 RTK信号类型

获取信号类型，示例代码：

        RTKCenter.get().getRTKSignalType(onSuccess = { type ->
            //success
        }, onFailure = { code, msg ->
            //failure
        })

设置信号类型，示例代码：

            RTKCenter.get()
                .switchRTKSignalType(rtkSignal = type, rtkConfig = getRtkConfig(), onSuccess = {
                    //success
                }, onFailure = { code, msg ->
                   //failure
                })

注意：设置信号类型会触发相应RTK服务的登录操作。

2.6 移除监听器

示例代码如下：

        RTKCenter.get().removeRTKSystemStateListener(this)
            

3.Sample获取

参考Sample中RTKCenterFragment

4.接口说明

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/16
 * RTK管理类
 */
interface IRTKCenter {

    /**
     * 初始化
     */
    fun init()

    /**
     * 销毁，释放资源
     */
    fun destroy()

    /**
     * 添加RTK流程状态监听器
     * @param listener
     */
    fun addRTKSystemStateListener(listener: RTKSystemStateListener)

    /**
     * 移除RTK流程状态监听器
     */
    fun removeRTKSystemStateListener(listener: RTKSystemStateListener)

    /**
     * 移除所有RTK流程状态监听器
     */
    fun clearAllRTKSystemStateListener()

    /**
     * 是否开启RTK模块
     * @param isEnabled
     * @param onSuccess
     * @param onFailure
     */
    fun setAircraftRTKModuleEnabled(
        isEnabled: Boolean,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit
    )

    /**
     * 获取是否开启RTK模块
     * @param onSuccess
     * @param onFailure
     */
    fun getAircraftRTKModuleEnabled(
        onSuccess: (Boolean) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * 切换RTK信号模式
     * @param rtkSignalMode 信号模式
     * @param onSuccess
     * @param onFailure
     */
    fun switchRTKSignalMode(
        rtkSignalMode: RTKSignalModeEnum,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * 获取RTK信号模式
     * @param onSuccess
     * @param onFailure
     */
    fun getRTKSignalMode(
        onSuccess: (RTKSignalModeEnum?) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )

    /**
     * 切换RTK信号类型
     * @param rtkSignal
     * @param rtkConfig
     * @param onSuccess
     * @param onFailure
     */
    fun switchRTKSignalType(
        rtkSignal: RTKSignalEnum,
        rtkConfig: NetWorkRTKConfig,
        onSuccess: () -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit
    )

    /**
     * 获取RTK信号类型
     * @param onSuccess
     * @param onFailure
     */
    fun getRTKSignalType(
        onSuccess: (RTKSignalEnum?) -> Unit,
        onFailure: (code: IAutelCode, msg: String?) -> Unit,
    )


}

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/17
 * RTK 功能系统状态监听
 */
interface RTKSystemStateListener {

    /**
     * RTK 初始化
     * @param status 状态信息
     */
    fun onRTKInitStatus(status: RtkSystemStatusBean?)

    /**
     * RTK 登录状态
     */
    fun onLoginStatus(status: RtkSystemStatusBean?)

    /**
     * 上报RTK数据
     * @param report
     */
    fun onRTKReportInfo(report: RtkReportBean?)

    /**
     * RTK 登出
     */
    fun onLogoutState()
    /**
     * RTK 释放资源
     */
    fun onDestory()
}

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/22
 */
data class NetWorkRTKConfig(
    //通用参数
    var commonConfig: RTKCommonConfig? = null,
    //千寻参数
    var qxRtkConfig: QXRTKConfig? = null,
    //是否千寻
    var isQianXun: Boolean? = false
)

//通用RT参数
data class RTKCommonConfig(
    var host: String = "",
    var port: Int = 0,
    var userName: String = "",
    var passWord: String = "",
    //该值使用AUTO或null,用户可以输入自己获取的挂载点，但不建议这样
    var mountPoint: String = "AUTO"
)

//千寻RTK 参数
data class QXRTKConfig(

    var key: String? = "",
    var secret: String? = "",
    var deviceType: String? = "",
    var deviceId: String? = ""
)

/**
 * Copyright: Autel Robotics
 * @author Autel on 2024/10/22
 */
data class RtkSystemStatusBean(
    //0：失败，1成功
    var code: Int = 0,
    var msg: String = ""
)