Sometimes it is necessary for navigation applications to calculate precise relative positioning between moving vehicles. Piksi Multi’s Moving Baseline RTK provides 5Hz RTK output when both of the paired primary and secondary receivers are in motion. In this configuration, the primary receiver and secondary receiver are installed on separate vehicles to support applications where precise relative positioning is important such as in agricultural and marine towing, UAV heavy lift payloads, formation or swarm focused navigation, and docking or shipboard landing. Software Piksi Multi must be configured to allow for Moving baseline usage. First, it must be configured to compute its differential solution in what is called “Time-matched mode”. By default, Piksi operates in “low-latency” mode in which there is an inherent assumption that the base station is stationary. In time-matched mode, each differential GNSS solution epoch is triggered by receipt of the raw observations from the moving secondary receiver. This means that the differential pair of Piksis must have equal observation rates which is configured through the “solution rate” and the “output every N Obs” settings. It also means that there can be significant latency on the navigation output from any communication delay. As such, on should minimize any communication delay between the Primary and Secondary receivers. Common Settings These settings are to be configured on both the Primary and Secondary Piksis. Name Value Units Description Solution dgnss_solution_mode “Time Matched” N/A Configures Piksi to compute a time-matched solution on receipt of observations from a base station. rate 5 Hz 5hz is the current maximum time-matched solution rate on Piksi Multi output_every_n_obs 1 N/A Enables 5hz raw observation on base and rover Table 1: Piksi Multi moving base required settings: Primary and Secondary receivers Primary Receiver only These settings are to be configured on only the RTK heading rover Piksi Multi. In these settings, it is assumed that uart0 is the interface over which observations are shared between primary and secondary receivers. Name Value Units Description uart0 enabled_sbp_messages 65535 N/A Configures Piksi to send only its heartbeat back to the moving base station Table 2: Primary receiver only settings Secondary Receiver only These settings are to be configured on only the Piksi Multi acting as the Secondary receiver and providing corrections to the primary receiver. In these settings, it is assumed that uart0 is the interface over which observations are shared between primary and secondary receivers. Name Value Units Description uart0 enabled_sbp_messages 74,65535 N/A Configures Piksi to send its heartbeat and raw observations to the RTK rover Table 2: Secondary receiver only settings Page Swift Navigation, Inc.