381 lines
9.9 KiB
Markdown
381 lines
9.9 KiB
Markdown
# Spacecruft Galmon
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Notes on setting up galmon.eu ground stations.
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# Galmon
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Galmon is a system to monitor GNSS.
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Ground stations on Earth use `galmon` software to collect data
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from each GNSS satellite.
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Main website:
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* https://galmon.eu
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Source code:
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* https://github.com/berthubert/galmon
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GNSS:
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* https://en.wikipedia.org/wiki/Satellite_navigation#Global_navigation_satellite_systems
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# Ground Stations
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There are two main GNSS chipsets that the `galmon` software support.
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UBX and Septentrio.
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The former is more widely used and easier to set up.
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## U-Blox
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Using these devices are as easy as installing `galmon` software and
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running the startup script. No device configuration is needed.
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There are a variety of UBX devices, the ones below use the
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U-blox ZED-F9 chipset.
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U-Blox website:
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* https://www.u-blox.com
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Ardusimple website:
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* https://www.ardusimple.com
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* https://www.ardusimple.com/simplertk2b-receivers/
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simpleRTK2B USB. Available at Mouser.
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* https://www.ardusimple.com/product/simplertk2b/
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simpleRTK2B-mPCIe. Available at Mouser.
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* https://www.ardusimple.com/product/simplertk2b-mpcie-zed-f9p/
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Start devices with options, ala:
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```
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cat /etc/default/ubxtool-ttyACM0
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DAEMON_OPTS="--owner 'Jeff Moe SpaceCruft' --remark 'Colorado, USA | Traverse Ten64 | simpleRTK2B-mPCIe' --gps --galileo --beidou --glonass --station XXX --destination XXX.submit.galmon.eu"
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```
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## Septentrio
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The Septentrio device is available as apparently very high quality
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standalone (unobtanium?) hardware that can plug directly into ethernet,
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amongst other configurations. Septentrio also resells their chips to
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third party integrators that make their own more readily available
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boards, such as the one used in the following setup.
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Septentrio website:
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* https://www.septentrio.com
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Ardusimple simpleRTK3B with Septentrio mosaic-X5.
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Note: in Ardusimple's lineup, the devices with "2" in them, such as
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simpleRTK2B are UBX, while
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devices with "3", such as simpleRTK3B are Septentrio.
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* https://www.ardusimple.com/product/simplertk3b-x5/
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Manufacturer's part number:
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* AS-RTK3B-MX5-L125-NH-00
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Not sold by Sparkfun, adafruit, or Digikey. Mouser part number:
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* 780-ASRTK3BMX5L125NH
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HOWTO set up the Septentrio simpleRTK3B USB.
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This was done using a Traverse Ten64 arm64 with Debian Bullseye (stable/11)
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as the server. Should be similar for Raspberry Pi or other Debian systems.
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Plug in the antenna to the simpleRTK3B.
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Plug the USB-C into the USB port on the server.
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Use the USB-C port labeled "GPS", which is the one on the same end as
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the antenna. This port will supply power to the device.
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When connected, it creates the following on the server via USB:
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* `/dev/ttyACM0` --- Serial port, `8N1` at `115200` baud.
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* `/dev/ttyACM1` --- Serial port, `8N1` at `115200` baud.
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* `/dev/sr0` --- Emulated CDROM, also accesible via symlink `/dev/cdrom`.
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* `/dev/sda` --- Hard drive.
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* `usb0` --- USB network interface.
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The CDROM drive just contains proprietary drivers.
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The hard drive is not readable from Debian, at least not initially.
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By default, the simpleRTK3B device won't send any data.
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So `/dev/ttyACM0` and `/dev/ttyACM1` are available, but not
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streaming any GNSS data.
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To configure the simpleRTK3B device, the USB network interface
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needs to be set up, then the device can be configured via
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its web interface.
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For testing, set up a temporary network interface on the server
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using the USB network device. For example:
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```
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ifconfig usb0 192.168.3.2 netmask 255.255.255.0 up
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```
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Then ping the simpleRTK3B network from the server via the USB device:
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```
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ping -c1 192.168.3.1
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```
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If there is a web browser available on the server, it can then access
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this URL to configure the simpleRTK3B.
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* http://192.168.3.1
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If the server is headless, a tunnel can be created from workstation
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to the server, then the USB web server is available on the workstation
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via localhost. Create SSH tunnel, where `server` is the hostname
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or IP of the server, run this on workstation:
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```
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ssh -N -L 127.0.0.1:8080:192.168.3.1:80 server
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```
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Then on the workstation, the simpleRTK3B Septentrio web
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configuration tool is available at:
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* http://127.0.0.1:8080
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If all is good on the device, it will have already found satellites.
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It needs to be configured to dump data that `galmon` will read.
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*Septentrio simpleRTK3B Web Interface*
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* Click mouse on "NMEA/SBF Out" option in the bar.
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* Click "New SBF stream".
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* Under "New SBF Output", select "IP server" and click "Next".
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*New SBF Output: IP server*
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* Select "New IP server connection", click "Next".
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* Set a port, such as `29000` and click "Next".
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* Under "Edit SBF Stream" select the following and click "Finish".
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Some items may need to be expanded:
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```
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MeasEpoch
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GALRawFNAV
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GALRawINAV
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PVTCartesian
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```
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Per IRC with `ahu`, CNAV needs to be enabled on Septentrio too.
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```
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GALRawCNAV
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```
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When the stream is configured, it should look like the below screenshot.
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There should be an option in the bottom right to save the configuration
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for reboot.
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*Septentrio simpleRTK3B configured with SBF MeasEpoch*
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*Septentrio simpleRTK3B configured with SBF RawNavBits*
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*Septentrio simpleRTK3B configured withOUT SBF GAL*
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*Septentrio simpleRTK3B configured with SBF PVTCart*
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Then create a script that runs `septool` to consume the web data
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from the simpleRTK3B. Such as `/usr/local/bin/galmon-sept`:
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```
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#!/bin/bash
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septool \
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--quiet true \
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--source 192.168.3.1:29000 \
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--destination XXX.submit.galmon.eu \
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--station XXX
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```
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Create a script to start it: `/etc/systemd/system/galmon.service`
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```
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[Unit]
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Description=galmon septool
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After=network-online.target
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Wants=network-online.target
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[Service]
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ExecStart=/usr/local/bin/galmon-sept
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User=debian
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Group=debian
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Restart=always
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[Install]
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WantedBy=multi-user.target
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```
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Then start it:
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```
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sudo systemctl start galmon.service
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# Check logs:
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tail -f /var/log/daemon.log
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```
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Start it at boot:
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```
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sudo systemctl enable galmon.service
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```
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Also, probably want to keep that USB network on reboot.
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Add this to `/etc/network/interfaces`, for example:
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```
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auto usb0
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iface usb0 inet static
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address 192.168.3.2/24
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```
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Then check if the ground station is appearing here:
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* https://galmon.eu/observers.html
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# Debian
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Debian `galmon` builds with source and binaries for arm64 are in the
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`debian/` directory.
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## Install from Package
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Debian package built for Debian Bullseye (11/stable) arm64 architecture:
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```
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sudo apt update
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sudo apt install libh2o-evloop0.13 libprotobuf23 libwslay1
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# Make sure upstream Debian's gpsd package isn't installed,
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# or it will mess up dependencies with file conflict:
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sudo apt remove gpsd
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wget https://spacecruft.org/spacecruft/spacecruft-galmon/raw/branch/main/debian/galmon-0.20220307-1/galmon_0.20220307-1_arm64.deb
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sudo dpkg -i galmon_0.20220307-1_arm64.deb
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```
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## Building Debian package
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To build the package from source:
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```
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sudo apt install ccache build-essential debhelper dpkg-dev help2man \
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libzstd-dev protobuf-compiler libcurl4-openssl-dev libh2o-evloop-dev \
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libh2o-dev libssl-dev libeigen3-dev libncurses-dev
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mkdir galmon-deb
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cd galmon-deb
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# Grab source, preferably from a reputable source, but this will do:
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wget https://spacecruft.org/spacecruft/spacecruft-galmon/raw/branch/main/debian/galmon-0.20220307-1/galmon_0.20220307.orig.tar.xz
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# Get a debian/ directory souce to make .deb packages, such as:
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wget https://spacecruft.org/spacecruft/spacecruft-galmon/raw/branch/main/debian/galmon-0.20220307-1/galmon_0.20220307-1.debian.tar.xz
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tar xf galmon_0.20220307.orig.tar.xz
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cd galmon_0.20220307
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tar xf ../galmon_0.20220307-1.debian.tar.xz
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# Edit to taste
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vim debian/control
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vim debian/changelog
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# Build source, perhaps
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dpkg-buildpackage -rfakeroot -S -uc -us -sa
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# Build binary package:
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dpkg-buildpackage -rfakeroot -b -uc
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# Install binary package:
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cd ..
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sudo dpkg -i galmon_0.20220307-1_arm64.deb
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# Check apt is happy
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sudo apt -f install
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```
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To patch in the `owner` and `remark`, or it will say the owner
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is "Septentrio" and there will be no remark.
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```
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--- galmon-0.20220307.orig/septool.cc 2022-04-14 23:06:38.000000000 +0000
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+++ galmon-0.20220307/septool.cc 2022-06-14 23:31:26.962133157 +0000
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@@ -376,8 +376,8 @@
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nmm.mutable_od()->set_clockaccuracyns(0);
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nmm.mutable_od()->set_freqaccuracyps(0);
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- nmm.mutable_od()->set_owner("Septentrio");
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- nmm.mutable_od()->set_remark("");
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+ nmm.mutable_od()->set_owner("Jeff Moe SpaceCruft");
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+ nmm.mutable_od()->set_remark("Colorado, USA | Traverse Ten64 | Septentrio simpleRTK3B USB");
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nmm.mutable_od()->set_recvgithash(g_gitHash);
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nmm.mutable_od()->set_uptime(time(0) - starttime);
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ns.emitNMM( nmm);
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```
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Everything "appears" to be working, but the Septentrio system is logging
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many CRC errors like:
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```
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F/NAV CRC error, skipping
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I/NAV CRC error, skipping
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```
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# Alerts
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See the script `scripts/galmonmonmon` to check ground station status.
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# Status
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Three ground stations running.
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simpleRTK2B-mPCIe, puck antenna, low in canyon.
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* https://galmon.eu/observer.html?observer=189
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simpleRTK2B USB, Calibrated Survey GNSS Tripleband + L-band antenna,
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higher in canyon.
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* https://galmon.eu/observer.html?observer=192
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Septentrio. simpleRTK3B. Calibrated Survey GNSS Tripleband + L-band antenna,
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higher in canyon.
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* https://galmon.eu/observer.html?observer=201
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# License / Copyright
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Source:
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* https://spacecruft.org/spacecruft/spacecruft-galmon
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Unofficial project, not part of official `galmon` software or website.
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Upstream sources under their respective copyrights.
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Copyright (C) 2022 Jeff Moe.
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License: CC By SA 4.0 International and/or GPLv3+ at your discretion.
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