Introduction

In this we use an iPhone as an GNSS receiver and stream the NMEA data using its hotspot (acting as a server), which is then captured using a laptop which is connected to the iPhone's WiFi (acting as a client). Python 3 is used to receive and decode the NMEA data into latitude and longitude.

Phone setup

• Install the GPS2IP mobile app in your iPhone (I am using the lite version) https://apps.apple.com/us/app/gps-2-ip/id408625926
• I am not sure, but the ShareGPS app must work similarly with Android devices.
• In settings:
  • Time between sending position
    • No Delay
    • Disable when static – Toggled off
  • GPS Accuracy
    • The very best
  • Protocol Type
    • NMEA
  • NMEA messages to send
    • RMC – Toggled on
  • Other messages – Toggled off
  • General settings – your wish
  • Connection Method – Socket (port – 5050)
  • Network selection – Hotspot (use Wifi if you’re connecting to an external router)
• Now you must be able to see the iPhone server IP and port information in the home screen of the application.
• Lastly, toggle the Enable GPS2IP Lite to transmit GPS data.

Computer setup

• Use https://github.com/semuconsulting/pynmeagps/blob/master/examples/nmeasocket.py
• Don't forget to put your IP.

Progress

In this image the red dots show the raw gps data and the white dots show the fused data, but as you can see the orientation is not right.

After working on the axis of the stereo camera through various iterations, I was able to correct the orientation

Credits

https://www.datacamp.com/tutorial/a-complete-guide-to-socket-programming-in-python

https://github.com/semuconsulting/pynmeagps/tree/master

https://www.capsicumdreams.com/gps2ip/