TinkerRTK LoRa Base Station and Rover

Overview

This guide demonstrates how to build a long-range RTK GPS system using LoRa radios for base-to-rover communication. LoRa enables correction data transmission over 5-10 km with clear line of sight, making it ideal for outdoor surveying, agriculture, and robotics applications where WiFi coverage is unavailable.

What You'll Learn

• Assembling TinkerNav boards with TinkerSend LoRa radio modules
• Configuring LoRa-based RTK base station and rover
• Understanding RTCM message packetization over LoRa (256-byte packet limit)
• Achieving centimeter-level positioning at multi-kilometer ranges

Hardware Required

• 2x TinkerNav RTK GNSS base boards
• 2x TinkerSend LoRa radio modules
• 2x LoRa antennas (900 MHz or 400 MHz band)
• 2x GNSS antennas (multi-band L1/L2/L5)
• USB-C cables for programming
• Optional: LiPo battery (1S or 2S) for field deployment
• Optional: WiFi device for status monitoring

Setup Steps

1. Hardware Assembly: Connect GNSS antenna to the SMA connector. Insert the TinkerSend LoRa module into the parallel 10-pin headers, aligning the printed arrows. Attach LoRa antenna to the U.FL connector.
2. Install Dependencies: Use Arduino Library Manager for standard libraries and download Tinkerbug libraries from GitHub.
3. Flash Firmware: Flash the LoRa base station and rover sketches separately via USB-C using Arduino IDE.
4. Deploy: Position the base station at a known location with clear sky view. The rover receives corrections via LoRa and computes RTK-corrected positions.

Range and Performance

• Up to 6 km line-of-sight with clear conditions
• LoRa packets limited to 256 bytes, so RTCM messages are automatically split and reassembled
• RTK fix typically achieved within a few minutes of operation