Introduction Arduino GPS Maps GUI Future

Python and ArduinoEasy GPS Tracker using Arduino and Python

Núria Pujol VilanovaUnitat de Tecnologia Marina (CMIMA-CSIC)

npujol@utm.csic.esnuriapujolvilanova@gmail.com

16. January 2014

Introduction Arduino GPS Maps GUI Future

What is my spech about?

1 Arduino2 Xbee communications3 NMEA strings4 Georefed image5 GUI using PyQt

Introduction Arduino GPS Maps GUI Future

What problem we want to solve?

Main objectiveLooking for a low cost and wide range system to locate AUV.

GPRS systems coverage problems far from coastIridium satellite communication costs

Introduction Arduino GPS Maps GUI Future

Our Solution

Introduction Arduino GPS Maps GUI Future

Arduino Family

ARDUINO UNOCPU Speed: 16MHZ

Analog IN: 6Digital I/O: 14

UART: 1Flash: 32Kb

ARDUINO MEGACPU Speed: 16MHZ

Analog IN: 16Digital I/O: 54

UART: 4Flash: 128Kb

Introduction Arduino GPS Maps GUI Future

Xbee Devices

ZIGBEEFreq: 2.4GHzPower OUT: 63mW*Max. Range: 3.2KmRF Data rate: 250 Kbps

802.11bgn ("Wifi")Freq: 2.4GHzPower OUT: 16 dBmMax. Range: 300mRF Data rate: 65 Mbps

"PROPRIETARY"Freq: 868MHzPower OUT: 350mWMax. Range: 40KmRF Data rate: 24 Kbps

* 10mW limited in most EU

Introduction Arduino GPS Maps GUI Future

How can I program my Arduino?

Arduino IDEClassical way to program your Arduino

Using Python Libraries:Python Arduino Prototyping, Pyduino, Pyfirmata,etc.PyMite (Python-on-chip)

Introduction Arduino GPS Maps GUI Future

How can I configure Xbee comunication?

Manufacturer software (X-CTU)Moltosenso Network ManagerSerial Port (pyserial)

Introduction Arduino GPS Maps GUI Future

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 7FF1\r’’)>>> ser.read (8)’OK\r7FF1\r’

>>> ser.write(’+++’)>>>ser.write(’ATRE\r’)>>>ser.write(’ATCN\r’)

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);

}

Introduction Arduino GPS Maps GUI Future

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

Introduction Arduino GPS Maps GUI Future

Programing example with Python

from arduino import Arduinoimport time

b = Arduino(’/dev/ttyUSB0 ’)pin = 9

#declare output pins as a list/tupleb.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/

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 =85235353137351118112 ’)

>>> ser=serial.Serial(’/dev/ttyUSB0 ’ ,9600)>>> ser.inWaiting ()243>>> ser.readline ()’$GPGGA ,203156.000 ,4122.5905 ,N ,00208.1725 ,E ,...*5\r\r\n’

Introduction Arduino GPS Maps GUI Future

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(41o22.5950’ N)→41+(22.5950/60)=41.376583 NLON: 00208.1621 E(2o08.1621’ E)→2+(0.81621/60)=2.136035 E

Decimal to UTM conversion

def from_latlon(latitude , longitude)def LLtoUTM(ReferenceEllipsoid , Lat , Long)

Introduction Arduino GPS Maps GUI Future

Georefed images formats

TIFF + TFW ⇐⇒ GeoTIFF

Using a .tif file and a .tfwGeotiff (embedded georeferencing information)

Where to obtain this files for free?Institut Cartogràfic de CatalunyaCentro Nacional de Información Geográfica

Introduction Arduino GPS Maps GUI Future

Georefed images formats

exemple.tfw

0.9318765919234120.0000000000000000.000000000000000-0.931876591923412414685.6838985801400004570442.677152497700000

Introduction Arduino GPS Maps GUI Future

How to plot a GeoTIFF?

from osgeo import gdalimport matplotlib.pyplot as plt

gtif=gdal.Open(’canal.tif’)gtif.GetProjectionRef ()gtif_array=gtif.ReadAsArray ()tfw=gtif.GetGeoTransform ()A,D,B,E,C,F=tfw[1],tfw[2],tfw[4],tfw[5],tfw[0],tfw [3]L=gtif.RasterXSizeH=gtif.RasterYSizeBLX , 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.ticklabel_format(useOffset=False ,axis=’both’)

plt.imshow(gtif_array [:3,:,:]. transpose ((1,2,0)), extent=extent)plt.show()

Introduction Arduino GPS Maps GUI Future

How to plot a TIFF?

import matplotlib.pyplot as plt

twf_values =[]file=open(’canal_ETR89_H31.tfw’, "r" )

for line in file:twf_values.append(float(line))

A, D, B, E, C, F=twf_valuesfile.close()

file_im=plt.imread(’canal_ETR89_H31.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.ticklabel_format(useOffset=False , axis=’both’)

plt.imshow(file_im , extent =[BLX , TRX , TRY , BLY])plt.show()

Introduction Arduino GPS Maps GUI Future

Obtained Plot

Introduction Arduino GPS Maps GUI Future

Adding GUI

Eric Python IDE

Introduction Arduino GPS Maps GUI Future

Adding GUI

Qt 4 Designer

Introduction Arduino GPS Maps GUI Future

Final Result

Introduction Arduino GPS Maps GUI Future

Future plans

OptimizationCoverage range testingField Tests

Get range and bearingAUV utilities using Xbee

Introduction Arduino GPS Maps GUI Future

QUESTIONS?