Updating Autonomous Start to an Updating Autonomous Start to an RTK - - PowerPoint PPT Presentation

Updating Autonomous Start to an Updating Autonomous Start to an RTK Field Survey RTK Field Survey

September 2009 Oscar R. Cantu’

September 2009

• For access to previously offered webinars and supporting

documentation, please go to:

Updating Autonomous Start to an RTK Field Survey

Topcon University FTP Site Topcon University FTP Site

ftp://TUlive+topconuniversity.com:tulive@ftp.topconuniversity.com

September 2009

• Project scenario, described
• TopSURV Survey Configuration to support a Real Time Kinematic

(RTK) field survey while also logging a static file

• Quick vocabulary review of Real Time Kinematic (RTK) field surveys
• Review of Field Sketch for project site and surrounding area
• Process description, From the Field to the Office
• Start an RTK field survey from an Autonomous Position while also

logging a static file

• Collect Field Data with Rover
• Stop Static File within Base Receiver

Updating Autonomous Start to an RTK Field Survey

Agenda Agenda – – Part I Part I

September 2009

• In Topcon Tools office software:

– Import static data from receiver – Import TopSURV job from controller

• Submit static file to the National Geodetic Survey (NGS) Online

User Positioning Service (OPUS)

• Receive and interpret NGS OPUS results
• Inverse of field measurements both before and after implementation
• f NGS OPUS Results
• View field data within Google Earth
• Update an Autonomous Start to an RTK Field Survey
• Update all Rover observations, inverse check

Updating Autonomous Start to an RTK Field Survey

Agenda Agenda – – Part II Part II

September 2009

Updating Autonomous Start to an RTK Field Survey

Scenario Scenario

• Part of the scope of work is to offer a

final deliverable with field work shown in a State Plane Coordinate (SPC) system.

• However, it is not convenient to

physically setup the mobile base receiver over a benchmark with published values.

• The intent is to keep the mobile base

receiver within close proximity of the project site to deter theft.

September 2009

Updating Autonomous Start to an RTK Field Survey

Scenario Scenario

• Through the choices made within a

TopSURV Survey Configuration, we will purposefully do two things at the same time:

– Start a Real Time Kinematic (RTK) field survey where the mobile base receiver is broadcasting corrections from an Autonomous Position. – Also log a static file in the mobile base receiver during RTK data collection with the intent of post processing later.

September 2009

Updating Autonomous Start to an RTK Field Survey

Scenario Scenario

• When field work is completed, we will

send the static file that was logged in the mobile base receiver to the National Geodetic Survey (NGS) Online Positioning User Service (OPUS).

• Using Topcon Tools office software,

the initial Autonomous Position will be updated with this OPUS derived result.

• Both the base position and all rover
• bservations will then be updated.

September 2009

Updating Autonomous Start to an RTK Field Survey

• The following will show and describe

the settings necessary within a TopSURV survey configuration to support a Real Time Kinematic (RTK) field survey where the option to log static files is enabled.

• In the follow example, antenna and

radio types will be shown for a Topcon GR-3 mobile base and rover system with Digital UHF radios.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• To create / modify a Survey Configuration within TopSURV, tap the

Configure icon and select Survey.

• Within the Survey Style screen, you have options to create a Survey

Configuration to support either GPS+ or Total Station (TS) hardware in the field.

• Tap the triple dot button to the right of GPS+ Config.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• You can either use the My RTK template to start with and then modify or

you can Add a new Survey Configuration from scratch. Let’s make a new

• ne.
• Tap the Add button. Declare a descriptive name for type of equipment and

type of survey.

• Ensure to check on the Post Processing option.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• Declare a Base and Rover manufacturer of Topcon.
• Select a Receiver Model and Antenna Type is set to GR-3.
• For this specific example, a two meter fixed height tripod will be used in the
• field. Therefore the measure method is Vertical with an Antenna Height of

6.562 feet (2.0 meters).

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• It is common to declare a File Name option of Default. This will result in the

static file being named in the convention of:

• The Logging Rate option is a user preference. To conserve file space and
• ptimize satellite tracking, it is common to log static files at a 15 second

recording interval.

TopSURV Survey Configuration TopSURV Survey Configuration

log yyyy mm dd_hh mm ss.tps

September 2009

Updating Autonomous Start to an RTK Field Survey

• Shown here are common settings for a Topcon GR-3 mobile base

receiver with Digital UHF radios.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• Now everything that was asked of you for the mobile base receiver

will be asked of you for the rover receiver.

• Shown above are commonly used settings.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• Again, it is common to match the Raw Data Logging settings from

the base receiver for the rover receiver.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• Within the Init (Initialization) Times screen, it is common to declare

120 minutes (two hours) for all satellite counts or Numbers of Space Vehicles.

• This will result in TopSURV offering a warning if the static file in the

base receiver is stopped prior to two hours of data logging.

TopSURV Survey Configuration TopSURV Survey Configuration

From NGS Website: OPUS provides three distinct processing softwares optimized for different data types: STATIC: For OPUS static processing, your data file must contain at least 2 hours but not more than 24 hours of data. RAPID-STATIC: For OPUS rapid-static processing, your data file must contain at least 15 minutes but not more than 4 hours of data, with all four observation types (L1,L2, P1 (or C1), and P2) present at each epoch used. KINEMATIC: Not yet available.

September 2009

Updating Autonomous Start to an RTK Field Survey

• From these screens forward, choice are customizable per user

preference.

• Shown above are commonly used settings.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• From these screens forward, choice are customizable per user

preference.

• Shown above are commonly used settings.

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Updating Autonomous Start to an RTK Field Survey

• Done. Tap the OK button to return to the TopSURV main menu.
• Within the Survey Configuration that you have just made, you are

now ready to begin a field survey with a Topcon GR-3 with Digital UHF Radios mobile base and rover system.

• The Configuration also supports the option of logging static file(s).

TopSURV Survey Configuration TopSURV Survey Configuration

September 2009

Any questions? Any questions?

September 2009

Updating Autonomous Start to an RTK Field Survey

• Within the Survey / Topo screen, you will always see your “health

bar” across the top showing your rover receiver’s current Communication Status, Solution Type, Real Time Precisions, and Satellite Count.

Quick Vocabulary Review Quick Vocabulary Review

September 2009

Updating Autonomous Start to an RTK Field Survey

• Autonomous Position – Standalone. Having nothing to do with

anything else. TopSURV will show your raw (uncorrected) position.

• Precisions will vary depending on how many satellites are being

tracked; typically around the 4 feet horizontal / 6 feet vertical range.

Quick Vocabulary Review Quick Vocabulary Review

September 2009

Updating Autonomous Start to an RTK Field Survey

• Float Solution – Only achievable by a rover receiver that is actively

receiving corrections from a broadcasting base receiver or from a Real Time GNSS Network. If you have a Float solution, you instantly know that you can “hear” your base / reference station.

• However, you are either too far from the base, are not tracking

enough satellites, or are moving too fast. Real time precisions usually hover around the sub foot level.

Quick Vocabulary Review Quick Vocabulary Review

September 2009

Updating Autonomous Start to an RTK Field Survey

• Fixed Solution – The rover receiver is tracking and using (initialized

to) five or more satellites that are also being tracked by the base receiver.

• Precisions are typically less than 0.10 foot horizontal / 0.15 foot

vertical or better.

Quick Vocabulary Review Quick Vocabulary Review

September 2009

Updating Autonomous Start to an RTK Field Survey

Field Sketch Field Sketch

Autonomous Position Corpus Christi Bay

P r

• j

e c t S i t e P r

• j

e c t S i t e

September 2009

Updating Autonomous Start to an RTK Field Survey AH1683 Autonomous Position Corpus Christi Bay

Field Sketch Field Sketch

Project Site

September 2009

Updating Autonomous Start to an RTK Field Survey AH1683 Corpus Christi Bay

• The intent is to setup the mobile base receiver at a random location for

project site convenience, theft deterrence, and optimal radio coverage.

• Since this is a random location, the field survey will have to be started

with an Autonomous Position.

• For training purposes, we will also observe a nearby National Geodetic

Survey (NGS) benchmark with the rover receiver. Autonomous Position Project Site

Field Sketch Field Sketch

September 2009

Updating Autonomous Start to an RTK Field Survey

• The process will be to setup the mobile base

receiver at a random location.

• Using TopSURV, start a Real Time Kinematic

(RTK) field survey with an Autonomous Position.

• Through the TopSURV Survey Configuration,

the mobile base receiver will also log a static file while the rover is collecting real time data. Field Book

• Initially, all rover observations will be “off” by the amount of error

reported by the mobile base receiver’s Autonomous Position quality.

• Depending on the number of satellites observed at the time, this can

be anywhere from 3 to 15 feet horizontally and 5 to 20 vertically.

Field Sketch Field Sketch

September 2009

Updating Autonomous Start to an RTK Field Survey

From the Field to the Office From the Field to the Office

• After the field survey is completed, all data will be

downloaded into Topcon Tools office software, both the TopSURV job of all rover observations and the static file that was logged in the mobile base receiver.

• The static file will be sent to the National

Geodetic Survey (NGS) Online Positioning User Service (OPUS) for processing.

http://www.ngs.noaa.gov/OPUS/

September 2009

Any questions? Any questions?

September 2009

Updating Autonomous Start to an RTK Field Survey

• Tap the Mode icon from the main menu to establish a

wireless Bluetooth communications connection between your field controller and the mobile base receiver.

• Check the Bluetooth box to begin the process. Choose

your base receiver and tap the Select button.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• With a wireless Bluetooth connection made, tap the Setup GPS icon then

select Start Base to start the process.

• By default, the Point Name will be Base1. Of course, you can change if you

wish.

• Working your way down the screen, you will need to select from your Code

Library the unique code for this point.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• For this example, the code will be CP Control Point.
• Again, since this mobile base receiver was setup at a random

location, you will need to use the Autonomous Position button.

• Once values are read in, tap the Stop button.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• Prior to tapping the Start Base button, it is common to stop and note

all setup information in your field book.

• Once documented, tap the Start Base button to have the mobile

base receiver immediately begin broadcasting corrections from your Autonomous Position.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• While still actively communicating to your mobile base receiver, from

the main menu, tap the Setup GPS icon again and select Start Base.

• Notice that TopSURV reports the Duration Time that the static file

has been logging in your base receiver at the bottom of the screen. This will be helpful later.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• You are done with the base receiver.
• To let go of your Bluetooth connection between your field controller

and the mobile base receiver, tap the Bluetooth toggle button at top center.

• Choose your Rover receiver and tap the Select button.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

• Tap the Setup GPS icon and select the Status option to check

common communication settings.

• The intent is to see if the rover receiver can “hear” the broadcasting

mobile base receiver and if it has achieved a Fixed solution.

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

September 2009

Updating Autonomous Start to an RTK Field Survey

Start an RTK Survey from an Autonomous Position Start an RTK Survey from an Autonomous Position

• Focus on the top four rows of Position Type, Common and

Initialized Satellites, and Radio Link.

• Here you see that the rover has 100% reception from your

broadcasting base and that there are 13 common and 13 initialized satellites, therefore your rover is in a Fixed solution. Ready to work!

September 2009

Updating Autonomous Start to an RTK Field Survey

• From the main menu, tap the Survey icon and select Topo to begin

taking field observations with the rover receiver.

• Recall that for this example, the mobile base receiver was started

from an Autonomous Position.

• An observation will be made on the nearby NGS benchmark AH1683.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• The field observation on this benchmark will provide a check once the

NGS OPUS derived solution is used.

• Since this field observation is to a published benchmark and involves

the control of our project, we will increase the Number of Measurements to Average from 3 to 30.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• Next, select from your Code Library what the unique Code will be for

this field observation. For this example, we will use BM Benchmark.

• With the “bubble in the circle”, you are ready to tap the Start button to

take 30 Fixed solution observations.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• The Epoch Count will increment up until 30 measurements are

taken.

• When done, we will check how “far off we are” from the published

values of this benchmark to the Autonomous start field observation we have just made.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• Without leaving the Topo screen, tap the Topcon logo at top left and

select the Inverse option to be shown the distance between two points in your TopSURV job.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• Declare the From Point and the To Point that you want to know the

thee dimensional distance between.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Updating Autonomous Start to an RTK Field Survey

• Here, we see the resulting distances between the published values of

the NGS benchmark AH1683 and the field observation made directly

• ver it from an Autonomous start.
• Notice between them is a Horizontal Distance of 5.611 feet and

Delta Height of -2.614 feet…we will see this again later.

Collect Field Data with Rover Collect Field Data with Rover

September 2009

Any questions? Any questions?

September 2009

Updating Autonomous Start to an RTK Field Survey

• Field work with the rover receiver is now done. The next step will be

to reconnect to the mobile base receiver via a wireless Bluetooth connection and stop the static file that is currently logging.

• Just as before, choose your base receiver and tap Select button,

then go to Setup GPS to see setup options.

Stop Static File within Base Receiver Stop Static File within Base Receiver

September 2009

Updating Autonomous Start to an RTK Field Survey

• Tap the Start Base icon to see the Duration Time that the static file has

been logging.

• Notice that this file has been logging for 2 hours and 30 minutes.

Excellent…this is thirty minutes longer than the NGS OPUS requirement.

• Next stop, Topcon Tools office software!

Stop Static File within Base Receiver Stop Static File within Base Receiver

September 2009

September 2009

… …see you next week! see you next week!

Updating Autonomous Start to an RTK Updating Autonomous Start to an RTK Field Survey Field Survey