Instrukcja obsługi AZUS€¦ · GNNS Solutions, Ashtech - Magellan, currently Spectra...

GeoDigitalGNSS

Contents: I. Introduction…………………………………………………………2 II. Survey ……………………………………………………………...3 III. Receiver Settings……………………………………………………5 IV. Rapid Static…………………………………………………………9 V. RTN ……………………………………………………………….10 VI. RTK………………………………………………………………...12 VII. Preprocessing….………………………………………………...….16 VIII. Postprocessing (introduction)..……………………….…………….19 IX. AzusRTN Technical Specification………………….…….……..…21 X. Notes and Detailed Advice.…..…………………………………….25 XI. Final Remarks…………………………………………. ….…….…25

Attachments as a bonus to the purchased receiver: 1) RTN by RTK_PowerGPS controller (ver. 1.0) 2) AzusRTN postprocessing GNSS Solutions (PL ver. 1.1.1)

AzusRTN User Guide

wersja 1.1.5

by Dr Eng. Ryszard Pażus 2018-08-14

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© GeoDigitalGNSS http://geodigitalgnss.com/ GB https://geodigitalgnss.pl/ PL

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I. Introduction 1. AzusRTN is a satellite receiver designed for surveying using the RTN (Real Time Network)

method.

The manual does not describe other possible applications, such as follows: RTK, for GIS (Geographic Information Systems), PPK, Moving Base RTK, Mapping,

Robotics, Precision Farming.

The full documentation of possibilities other than those described in this manual can be found in the description of EMLID, the manufacturer of the Reach RTK module,

used in the AzusRTN receiver.

For applications other than surveying, an alternative is the receivers and modules offered by EMLID, designed for navigation needs, mainly for drone users.

Unfortunately, without the required necessary know-how for surveyors as the end

users..

Users of the Reach RTK module have a very numerous forum, thoroughly describing all doubts (run in English).

2. AzusRTN is not associated with any controller and postprocessing software. It is assumed, however, that the most popular controller will be an Android application and postprocessing

will, in turn, require a laptop or a desktop computer with Windows.

3. The attached examples use the Open Source Initiative software (RTKLIB, EMLID) and the legacy software. This is because the goal is to show the solution to the task. In small

companies with a specific profile, comprehensive software is not necessary (includes

modules that are useless for the company).

4. The following sources were used for the description of RTN and RTK surveying,:

EMLID, the producer of the Reach RTK module used in AzusRTN, RTKLIB by Tamoji TAKASU (Research and Development of Precise Positioning

Technology by Global Navigation Satellite System) distributed as the Open Source

clause Initiative BSD2.

GNNS Solutions, Ashtech - Magellan, currently Spectra Precision-Trimble. PowerGPS software from SkyRaster as an example of the controller on Android.

CSRS-PPP Online Computation

http://geodigitalgnss.com/https://geodigitalgnss.pl/https://www.ngs.noaa.gov/PUBS_LIB/NGSGuidelinesForRealTimeGNSSNetworks.pdfhttps://www.ngs.noaa.gov/PUBS_LIB/NGSGuidelinesForRealTimeGNSSNetworks.pdfhttps://docs.emlid.com/reachm-plus/https://emlid.com/https://community.emlid.com/https://docs.emlid.com/reach/http://www.rtklib.com/rtklib.htmhttps://opensource.org/licenses/bsd-license.phphttps://opensource.org/licenses/bsd-license.phpftp://ftp.ashtech.com/Spectra-precision/Legacy/Land Survey/GNSS Solutions/software/3.80.8/http://powergps.pl/http://www.nrcan.gc.ca/earth-sciences/geomatics/geodetic-reference-systems/tools-applications/10925#ppphttp://www.nrcan.gc.ca/earth-sciences/geomatics/geodetic-reference-systems/tools-applications/10925#ppp

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II. Survey

1. 2. You are required to position the receiver site (or a specific point) without significant

obstructions, interfering the reception of satellite signals. For example, when choosing a place for a point in Poland, it should be remembered that from the northern part of Poland

there is a dead zone without GPS and GLONASS satellites.

3. The height of the phase center from the receiver base equals 0.080 m

This height should be taken into account when measuring over the measuring point. The antenna used is not present in the collections of antennas

calibrated by calibration services. Here, the calibration was done

by the manufacturer. The accuracy of the phase centre is +/- 2mm

with the elevation mask 12o.

4. Power on the receiver lit LED signal. The flicker color sequence of the LED is described on the EMLID pages. The diode in AzusRTN is a fiber optic derivation of a tri-color RGB diode (red, green, blue). After the

initial start-up sequence of the Reach View application, the most

important LED signals are: synchronization of the oscillator (white

color), Wi-Fi in AP mode (green) or in client mode (blue).

5. When turned on, the receiver tries to connect to known Wi-Fi networks that have been declared in memory. If it cannot find any, it will create its

own AP (Access Point, host), often called a hotspot, although the term

'hotspot' is rather the area within the AP's access point. Other words for

the host are Wi-Fi, router, etc.

6. AzusRTN will create a Wi-Fi hotspot the first time you start it. In the list of Wi-Fi networks on your smartphone, tablet, computer (laptop) a

network called azusrtn ?? (e.g., azusrtn22: 66: ac) will appear. The

network will be displayed as 'Murata Manufacturing'. The network

http://geodigitalgnss.com/https://geodigitalgnss.pl/https://docs.emlid.com/reach/led-status/

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password for the receiver is azusrtn ?? (the example on the smartphone in the Fing

application is the password: azusrtn22).

7. The description of the ReachView application is also on the manufacturer's website of the Reach module (Introduction). The ReachView application also plays the role of a controller,

but it is not practical for the surveyors. The reason is the lack of transformation into: spatial

reference system, cartographic projection and taking into account the geoid (or quasigeoid)

model for determining orthometric (or normal) heights. We get only optional: geocentric coordinates XYZ or φ, λ, h (ellipsoidal) at WGS84 for the observation epoch.

http://geodigitalgnss.com/https://geodigitalgnss.pl/

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III. Receiver Settings

1. We have nine tabs 'Menu' buttons and the Settings for the configuration of the receiver.

2. In the 'Settings', at the beginning, there is the information about which version of the

application is installed and (important) whether it is a stable version or a trial version. For

our purpose, test versions are not recommended.

In the further part of this tab, we have the option of generating a report on the current configuration. It is important in querying problems in case of technical support.

We can also change the user name and password and, if necessary, return to the initial

settings (default).


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3. In the Logging tab, we have a full list of our logins with a record of observation files that we can download for further elaboration.

If before the survey we performed some tests and trials, it is good to temporarily

switch 'On' to 'Off' which will separate the saved files and place the starting point. We

leave the file deletion for later. If you accidentally click on the delete icon, you can

delete the "Delete" command until you disconnect the connection with the receiver.

Selecting the formats of saved files is done through the drop-down menus:

4. In the Wi-Fi / Bluetooth fold, we should enter the AP access points that we will use during

the measurement with our receiver.


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For example: 5. Optionally, because this is not a necessary step to start the survey, we open

the 'New project' in the 'Survey' fold.


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IV. Rapid Static 1. The Rapid Static (RS) procedure of the survey is the simplest and most accurate

measurement that we can make with the AzusRTN receiver. If there are not too many

obstacles that cover the open horizon, a short session, about 20 minutes, will suffice to

obtain accurate results. If there are more of them, the measuring session needs to be extended. Horizontal coordinate accuracy is then a few, at most a dozen or so millimeters.

Accuracy in height is limited by the geoid model (quasigeoid). To obtain such results,

postprocessing is required according to the enclosed instructions.

2. Performing a measurement is a simple activity. After setting the receiver over the designated point, we measure the height to the antenna reference point and add 80mm to the phase

center of the antenna (ARP + 0.080m) then switched ‘on’ the receiver for the duration of the

session, after which the receiver is switched ‘off’. 3. The required configuration is:

In the 'RTK settings' we set: ‘Static’, ‘Continuous’ recording, elevation mask 12o for our antenna, parameter of acceptable interference SNR

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V. RTN 1. Basic guidelines

To get a fixed position solution with centimeter precision, initialize the receiver. For initialization to take place, the receiver must track at least five satellites that the VRS

(=base station) is also tracking. In a dual-satellite constellation operation, for

example, GPS and GLONASS, the receiver must track at least six satellites.

To continue to survey at centimeter precisions, the receiver must continuously track at least four satellites that the VRS (=base station) is also tracking. The internet, Wi-Fi

or Bluetooth link between them must also be maintained.

Loss of the satellite signals will result in a loss of centimeter position precision. 2. RTN survey requires a controller that is a program that meets the requirements of the

procedure. There are many such programs, including those free of charge.

3. The manual describes only the procedure using ReachView and, for example, the SkyRaster PowerGPS controller.

4. An example of a RTN survey using ReachView. Location with a tree from the south side.

5. An example of a RTN survey using RTK PowerGPS software (description of individual screen shots is in the manual here):

http://geodigitalgnss.com/https://geodigitalgnss.pl/http://powergps.pl/http://powergps.pl/http://powergps.pl/instrukcja

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VI. RTK

1. An example of AzusRTN as 'rover', in which the fixed point 'base' is far away from the area being surveyed. The available IGS reference station is located approx. 20 km away. This is

an example for the purpose of this manual. In practice, this method can be used for reference

stations much closer to the measuring points.

2. For ‘RTK Settings’:

choose the closest reference station, here is JOZ2 IGS network, or in the 'Correction input' to take the network address and port, select from the drop-down menu JOZ2

station (in the application is JOZ200POLO)


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We have a fixed solution (fix) for a 20 km vector, which is rather rare, i.e. it is not necessary to draw far-reaching conclusions.

Recording of the measurement is available in the 'Logging' tab.


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The same on a smartphone as the controller. 'Status' shows that our 'rover' with 29 satellites in the observation field can refer to 21 references (the screen does not show

all)

3. In turn, the same example using PowerGPS apps. Without the description, I attach screenshots:


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The coordinates of this reference point (SPXE) is 488794.866, 628134.543 so compatibility (delta): 0.002m and 0.015M


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VII. Preprocessing

The program for preprocessing is taken from EMLID or RTKLIB. It is recommended to download from EMLID, where the program is updated.

2. Pre-processing example:

We enter the file of our observations in binary .ubx format

http://geodigitalgnss.com/https://geodigitalgnss.pl/https://docs.emlid.com/reach/common/tutorials/gps-post-processing/https://github.com/tomojitakasu/RTKLIB/tree/rtklib_2.4.3

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As' Options' we choose: RINEX version, name of the point consisting of four alphanumeric characters (RINEX Name), select required items exactly as in the example (Satellite Systems, types of observations, frequency only L1, 'Iono Corr', 'Leap Sec ',' Marker Name ',' Delta N '(height above point to ARP + 0.080m) ->'

OK ':

-> Convert

Text files will appear from our *.UBX binary file as in our example for the SPYC point:


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• RINEX obs. starts with such a header (example SPYC point):

The program presets the initial settings. The next sessions will only require changes in the names of points and heights above the measuring point.

Only short post-processing remains, described in a separate chapter. This post-processing is required due to the necessity of: converting to a spatial reference system, including mapping projection, converting the height to the altitude system

applicable in a given area. The module manufacturer has for some time ensured that these conversions will be implemented in the new version of the Reach firmware (EMLID).

3. It is recommended that immediately after generating the RINEX file observations are sent for pre-checks to the Canadian CSRS-PPP system. The system is free, open to all interested

parties. The only condition for using it is to clearly document this source of origin. Our goal

is formal control of the measurement performed using the PPP method, i.e. without

reference to the reference stations. Accuracy is irrelevant here, because postprocessing

decides about it.


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VIII. Postprocessing (introduction)

1. Postprocessing is described in the appendix.

2. The most commonly used reference station systems:

3.

4.


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5. International GNSS Service (IGS)


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6. US National Geodetic Survey (CORS)

7. Others, not listed here.


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IX. AzusRTN Technical Specification

1. The receiver module uses REACH RTK GNSS firmware EMLID, based on studies RTKLIB (An Open Source Program Package for GNSS Positioning) done by prof. Tamoji

Takasu (Japan).

72 channels: GPS L1, GLONASS G1, Galileo E1, SBAS, BeiDou B1, QZSS L1 - the manufacturer of the card is the Swiss company U-blox SA,

Frequency: 0.1Hz, 1Hz, 5Hz, 10Hz, 14Hz

data storage with a capacity of 2GB

communications: Wi-Fi, Bluetooth, optional radio communication port for USB devices that meet the criteria of formal-legal,

interface: port USB, UART, event

internal power supply: Li-Ion battery capacity of 7.2V 5.2Ah

temperature / storage from -20 ° C to + 65 ° C

dustprotected / waterproof IP67 (usb socket IP65)

2. Dimensions / weight: (12 x 12cm) x 8,5cm / 800g (including antenna)

3. The receiver is placed on a pole with a 5/8 "screw or on a base for mounting in a universal type tribrach.

4. Antenna

http://geodigitalgnss.com/https://geodigitalgnss.pl/http://www.rtklib.com/http://www.rtklib.com/

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ARP (Antenna Reference Point) = 0.080m

Stability of the phace center PCV (Phase Center Variation) +/-2mm (1 sigma)

PCV dependance on azimuth (phi) is very small and it does not exceed 0.7mm

enhanced multipath signal exclusion (multipath)

quick down gain control near the ground

interference rejection filtered by dielectric filter

5. The accuracy of a receiver clock (oscillator) is 2-3 nanoseconds, for example, one of the receivers showing the red line (sigma - report system Canadian CSRS-PPP). Time is

synchronized with the GPS system or the internet via Wi-Fi when the receiver is turned on.


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6. The receiver is a precision instrument designed to work in difficult terrain conditions. Like any other such type of instrument, it requires proper care. The interior of the receiver does not contain any elements that require servicing. Only the battery life can be limited and after some time, it is assumed that after several years of intensive use, it will require replacement. It is recommended to periodically recharge the battery every few weeks if the receiver is not used.

7. The receiver is powered by a battery placed inside the receiver. The voltage drop of this battery to the minimum acceptable level is signaled by sound (squeaking); after which (about 10 minutes) the receiver switches off automatically. A fully charged battery lasts for about 25 hours of measurement.

Charging the battery signals the LED in orange. The full charge cycle of a fully discharged battery takes about 9 hours. Turning off the LED indicates the end of the

charging cycle. The flickering of the diode informs about the disconnection of

charging without full charge (exceeding the charging time to more than 16 hours).

The set includes a switching power adapter (battery charger is within the receiver). Optionally, you can use the cigarette lighter socket.

8. Manual and configuration files for post-processing programs in electronic form (CD or USB memory stick).

9. The receiver is supplied without a transport box and does not require such a box for transport.

http://geodigitalgnss.com/https://geodigitalgnss.pl/https://geodigitalgnss.pl/image/public/4accf4a0-f326-11e7-a92f-525400d183e6_hd_2018-01-06-21-43-46.jpg?tag=173207

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X. Notes and Detailed Advice

1. Sessions for a RS (Rapid Static) method are most conveniently surveyed in a time group that is easy to post-process in one adjustment by generating a VRS, one or more, covering the

entire measurement period.

2. Ordering VRS from the services is very simple. From the header of the RINEX file of our point, we copy approximate coordinates. For this position, the service will automatically

generate virtual observations from measurements made at the reference stations.

3. VRS stations should be generated at least from a period longer than about 1.5 hours with an interval of 1 second. By using EUREF and IGS, VRS stations are created from the almost 24-hour period because the reference stations are with an interval of 30 seconds. There is

also a need for extending our sessions.

4. The accuracy of our heights is determined, first of all, by the accuracy of the geoid model (area diversified).

XI. Final Remarks

1. The necessary condition for obtaining correct results from surveying is to follow the instructions described in this manual.

2. The producer of the AzusRTN receiver does not bear any responsibility regarding the quality of measurements resulting from changes in the technical conditions of receiving

GNSS signals caused by:

operational degradation of the GNSS (systems) by its owner (operational degradation),

deterioration of ionospheric and tropospheric conditions,

improper geometry of the satellites resulting from terrain obstacles,

the influence of local electromagnetic interference,

effect of signal multitrack,

inadequate post-processing and coordinate transformation procedures,

non-compliance with applicable technical standards regarding surveying.

Instrukcja obsługi AZUS€¦ · GNNS Solutions, Ashtech - Magellan, currently Spectra...

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