![Introduction
Arduino
GPS
Maps
Programing example with Arduino IDE
void loop (){
byteGPS = 0;
byteGPS = gps . read ();
while ( byteGPS != ’$ ’ ){
byteGPS = gps . read ();
}(*)
byteGPS = gps . read ();
if ( byteGPS == ’G ’ ){ (*)
while ( byteGPS != ’* ’)
{
byteGPS = gps . read ();
GPS [ i ] = byteGPS ;
i ++;
}(*)
while (j < i ){
Serial . write ( char ( GPS [ j ]));
j ++;
}
Serial . println ();
}
}
(*) Missing lines of code
GUI
Future](https://image.slidesharecdn.com/npujolgpstracker-140118084302-phpapp02/85/Easy-GPS-Tracker-using-Arduino-and-Python-11-320.jpg){kind=tracking}
![Introduction
Arduino
GPS
Maps
Programing example with Python
from arduino import Arduino
import time
b = Arduino ( ’/ dev / ttyUSB0 ’)
pin = 9
# declare output pins as a list / tuple
b . output ([ pin ])
for xrange (10):
b . setHigh ( pin )
time . sleep (1)
print b . getState ( pin )
b . setLow ( pin )
print b . getState ( pin )
time . sleep (1)
b . close ()
https://github.com/vascop/Python-Arduino-Proto-API-v2/
GUI
Future](https://image.slidesharecdn.com/npujolgpstracker-140118084302-phpapp02/85/Easy-GPS-Tracker-using-Arduino-and-Python-12-320.jpg){kind=tracking}
![Introduction
Arduino
GPS
Maps
GUI
Future
How to plot a GeoTIFF?
from osgeo import gdal
import matplotlib . pyplot as plt
gtif = gdal . Open ( ’ canal . tif ’)
gtif . G et P r o j e c t i o n R e f ()
gtif_array = gtif . ReadAsArray ()
tfw = gtif . G et G eo Tr a ns f or m ()
A ,D ,B ,E ,C , F = tfw [1] , tfw [2] , tfw [4] , tfw [5] , tfw [0] , tfw [3]
L = gtif . RasterXSize
H = gtif . RasterYSize
BLX , BLY , TRX , TRY =C , F , C +( L * A ) , F +( H *( E ))
extent =[ BLX , TRX , TRY , BLY ]
fig = plt . figure ()
axes = fig . add_subplot (111)
axes . t i c k l a b e l _ f o r m a t ( useOffset = False , axis = ’ both ’)
plt . imshow ( gtif_array [:3 ,: ,:]. transpose ((1 ,2 ,0)) , extent = extent )
plt . show ()](https://image.slidesharecdn.com/npujolgpstracker-140118084302-phpapp02/85/Easy-GPS-Tracker-using-Arduino-and-Python-17-320.jpg){kind=tracking}
![Introduction
Arduino
GPS
Maps
GUI
How to plot a TIFF?
import matplotlib . pyplot as plt
twf_values =[]
file = open ( ’ c a na l_ E TR 89 _ H3 1 . tfw ’ , " r " )
for line in file :
twf_values . append ( float ( line ))
A , D , B , E , C , F = twf_values
file . close ()
file_im = plt . imread ( ’ ca na l _E T R8 9_ H 31 . tif ’ , " r " )
L = len ( file_im [1 , :])
H = len ( file_im [: , 1])
BLX , BLY , TRX , TRY =C , F , C +( L * A ) , F +( H *( E ))
fig = plt . figure ()
axes = fig . add_subplot (111)
axes . t i c k l a b e l _ f o r m a t ( useOffset = False ,
axis = ’ both ’)
plt . imshow ( file_im , extent =[ BLX , TRX , TRY , BLY ])
plt . show ()
Future](https://image.slidesharecdn.com/npujolgpstracker-140118084302-phpapp02/85/Easy-GPS-Tracker-using-Arduino-and-Python-18-320.jpg){kind=tracking}
Easy GPS Tracker using Arduino and Python
- 1. Introduction Arduino GPS Maps GUI Python and Arduino Easy GPS Tracker using Arduino and Python Núria Pujol Vilanova Unitat de Tecnologia Marina (CMIMA-CSIC) [email protected] [email protected] 16. January 2014 Future
- 2. Introduction Arduino GPS Maps What is my spech about? 1 2 3 4 5 Arduino Xbee communications NMEA strings Georefed image GUI using PyQt GUI Future
- 3. Introduction Arduino GPS Maps GUI What problem we want to solve? Main objective Looking for a low cost and wide range system to locate AUV. GPRS systems coverage problems far from coast Iridium satellite communication costs Future
- 5. Introduction Arduino GPS Maps GUI Arduino Family ARDUINO UNO CPU Speed: 16MHZ Analog IN: 6 Digital I/O: 14 UART: 1 Flash: 32Kb ARDUINO MEGA CPU Speed: 16MHZ Analog IN: 16 Digital I/O: 54 UART: 4 Flash: 128Kb Future
- 6. Introduction Arduino GPS Xbee Devices ZIGBEE Freq: 2.4GHz Power OUT: 63mW* Max. Range: 3.2Km RF Data rate: 250 Kbps 802.11bgn ("Wifi") Freq: 2.4GHz Power OUT: 16 dBm Max. Range: 300m RF Data rate: 65 Mbps "PROPRIETARY" Freq: 868MHz Power OUT: 350mW Max. Range: 40Km RF Data rate: 24 Kbps * 10mW limited in most EU Maps GUI Future
- 7. Introduction Arduino GPS Maps How can I program my Arduino? Arduino IDE Classical way to program your Arduino Using Python Libraries: Python Arduino Prototyping, Pyduino, Pyfirmata,etc. PyMite (Python-on-chip) GUI Future
- 8. Introduction Arduino GPS Maps How can I configure Xbee comunication? Manufacturer software (X-CTU) Moltosenso Network Manager Serial Port (pyserial) GUI Future
- 9. Introduction Arduino GPS Maps GUI Pyserial example using AT commands >>> import serial >>> ser = serial . Serial ( ’/ dev / ttyUSB0 ’ , baudrate =9600) >>> ser . write ( ’ +++ ’) >>> ser . write ( ’ ATID r ’) >>> ser . read (8) ’ OK r7FFF r ’ >>> ser . write ( ’ +++ ’) >>> ser . write ( ’ ATID 7 FF1 r ’ ’) >>> ser . read (8) ’ OK r7FF1 r ’ >>> ser . write ( ’ +++ ’) >>> ser . write ( ’ ATRE r ’) >>> ser . write ( ’ ATCN r ’) Future
- 10. Introduction Arduino GPS Maps GUI Future Programing example with Arduino IDE # include < SoftwareSerial .h > # define rxPin 9 # define txPin 8 SoftwareSerial gps = SoftwareSerial ( rxPin , txPin ); * VARIABLES * void setup (){ pinMode ( rxPin , INPUT ); pinMode ( txPin , OUTPUT ); gps . begin (4800); Serial . begin (9600); delay (1000); }
- 11. Introduction Arduino GPS Maps Programing example with Arduino IDE void loop (){ byteGPS = 0; byteGPS = gps . read (); while ( byteGPS != ’$ ’ ){ byteGPS = gps . read (); }(*) byteGPS = gps . read (); if ( byteGPS == ’G ’ ){ (*) while ( byteGPS != ’* ’) { byteGPS = gps . read (); GPS [ i ] = byteGPS ; i ++; }(*) while (j < i ){ Serial . write ( char ( GPS [ j ])); j ++; } Serial . println (); } } (*) Missing lines of code GUI Future
- 12. Introduction Arduino GPS Maps Programing example with Python from arduino import Arduino import time b = Arduino ( ’/ dev / ttyUSB0 ’) pin = 9 # declare output pins as a list / tuple b . output ([ pin ]) for xrange (10): b . setHigh ( pin ) time . sleep (1) print b . getState ( pin ) b . setLow ( pin ) print b . getState ( pin ) time . sleep (1) b . close () https://github.com/vascop/Python-Arduino-Proto-API-v2/ GUI Future
- 13. Introduction Arduino GPS Maps GUI Future After programing what we get? >>> import serial >>> from serial . tools import list_ports >>> for port in list_ports . comports (): ... print port ... ( ’/ dev / ttyUSB0 ’ ,... , ’ VID : PID =0403:6001 SNR = A9014UV2 ’) ( ’/ dev / ttyACM0 ’ ,... , ’ VID : PID =2341:0043 SNR = 8 5 2 3 5 3 5 3 1 3 7 3 5 1 1 1 8 1 1 2 ’) >>> ser = serial . Serial ( ’/ dev / ttyUSB0 ’ ,9600) >>> ser . inWaiting () 243 >>> ser . readline () ’ $GPGGA ,203156.000 ,4122.5905 , N ,00208.1725 , E ,...*5 r r n ’
- 14. Introduction Arduino GPS Maps GUI NMEA Strings GPGGA,203156.000,4122.5950,N,00208.1621,E,1,05,1.7,-21.8,M,51.0 NMEA to Decimal conversion LAT: 4122.5950 N(41o 22.5950’ N)→41+(22.5950/60)=41.376583 N LON: 00208.1621 E(2o 08.1621’ E)→2+(0.81621/60)=2.136035 E Decimal to UTM conversion def from_latlon ( latitude , longitude ) def LLtoUTM ( ReferenceEllipsoid , Lat , Long ) Future
- 15. Introduction Arduino GPS Maps Georefed images formats TIFF + TFW ⇐⇒ GeoTIFF Using a .tif file and a .tfw Geotiff (embedded georeferencing information) Where to obtain this files for free? Institut Cartogràfic de Catalunya Centro Nacional de Información Geográfica GUI Future
- 16. Introduction Arduino GPS Georefed images formats exemple.tfw 0.93 187659192 3412 0.00 000000000 0000 0.00 000000000 0000 -0.931876591923412 41 4 6 8 5 . 6 8 3 8 9 8 5 8 0 1 4 0 0 0 0 4570442.677152497700000 Maps GUI Future
- 17. Introduction Arduino GPS Maps GUI Future How to plot a GeoTIFF? from osgeo import gdal import matplotlib . pyplot as plt gtif = gdal . Open ( ’ canal . tif ’) gtif . G et P r o j e c t i o n R e f () gtif_array = gtif . ReadAsArray () tfw = gtif . G et G eo Tr a ns f or m () A ,D ,B ,E ,C , F = tfw [1] , tfw [2] , tfw [4] , tfw [5] , tfw [0] , tfw [3] L = gtif . RasterXSize H = gtif . RasterYSize BLX , BLY , TRX , TRY =C , F , C +( L * A ) , F +( H *( E )) extent =[ BLX , TRX , TRY , BLY ] fig = plt . figure () axes = fig . add_subplot (111) axes . t i c k l a b e l _ f o r m a t ( useOffset = False , axis = ’ both ’) plt . imshow ( gtif_array [:3 ,: ,:]. transpose ((1 ,2 ,0)) , extent = extent ) plt . show ()
- 18. Introduction Arduino GPS Maps GUI How to plot a TIFF? import matplotlib . pyplot as plt twf_values =[] file = open ( ’ c a na l_ E TR 89 _ H3 1 . tfw ’ , " r " ) for line in file : twf_values . append ( float ( line )) A , D , B , E , C , F = twf_values file . close () file_im = plt . imread ( ’ ca na l _E T R8 9_ H 31 . tif ’ , " r " ) L = len ( file_im [1 , :]) H = len ( file_im [: , 1]) BLX , BLY , TRX , TRY =C , F , C +( L * A ) , F +( H *( E )) fig = plt . figure () axes = fig . add_subplot (111) axes . t i c k l a b e l _ f o r m a t ( useOffset = False , axis = ’ both ’) plt . imshow ( file_im , extent =[ BLX , TRX , TRY , BLY ]) plt . show () Future
- 20. Introduction Arduino GPS Maps Adding GUI Eric Python IDE GUI Future
- 21. Introduction Arduino GPS Maps Adding GUI Qt 4 Designer GUI Future
- 23. Introduction Arduino GPS Future plans Optimization Coverage range testing Field Tests Get range and bearing AUV utilities using Xbee Maps GUI Future