20 30 40 50 GPS System 500 Getting Started with Static and Kinematic Surveys Version 2.
System GPS500 Congratulations on your purchase of a new Leica System GPS500. 2 Static and Kinematic Surveys-2.0.
View of chapters Introduction 6 Equipment checklist for static and rapid static measurements using system 500 7 Setting up System 500 for a static survey 8 Using the TR500 terminal 9 Taking Static / Rapid-Static measurements 13 Exploring the sensor status during operation 23 Changing the system configuration parameters 29 Creating new configuration sets 33 Programming wake-up sessions 34 Kinematic and Stop & Go surveying - using static initialization 37 Kinematic "on the fly" 43 Practi
Contents Introduction ................................................... 6 Exploring the sensor status during operation ...................................................................... 23 Equipment checklist for Static and RapidStatic measurements using System 500 ..... 7 Satellite status ............................................................24 Stop & Go indicator .....................................................25 Battery and memory status .........................................
Contents, contd. Kinematic and Stop & Go surveying - using static initialization ........................................ 37 Introduction and general comments .............................37 Equipment setup for Kinematic and Stop & Go surveys 38 Carrying out Kinematic and Stop & Go measurements .39 Initialization on a known point ......................................42 Kinematic "on the fly" .................................
Introduction The purpose of this short manual is to give guidelines and useful hints on how to perform static, rapid static and kinematic surveys using SR510, SR520 or SR530 GPS receivers without utilizing Realtime techniques. Realtime applications, based on the use of radio modems - in particular RTK (Real-Time-Kinematic) operation with SR530 receivers - are described in the booklet "Getting Started with Real-Time Surveys".
Equipment checklist for Static and Rapid-Static measurements using System 500 If you want to use System 500 for Static or Rapid-Static survey then the minimum equipment you need is a pair of System 500 units. Each unit comprises a SR510 or SR520 or SR530 sensor.
Setting up System 500 for a static survey 6 Successful GPS surveys require 7 8 undisturbed satellite signal reception. This means that GPS sensors should be set up in locations which are free of obstructions. No obstacles like trees, buildings, mountains, etc. should block the line between the GPS antenna and GPS satellites. This holds true in particular for the sensor which serves as the reference.
Using the TR500 terminal Menus In order to operate System 500 some interactions between the user and the TR500 terminal are usually required. You will find the operating concept of the onboard software intuitive and easy to use. All screens and panels are steered in the same way which makes the software very userfriendly and easy to learn. A typical example can be found in the main menu: This chapter explains by use of some examples how to operate the terminal.
6 7 8 Menus, continued Entering information A shortcut is to press the numbers which are associated with each choice directly. For instance if you press "6" you will get straight into "Configure" A typical example can be found in the main Survey panel: Use the alphanumeric keys on the terminal to enter the information. Use the CE key to correct any typing error. 9 Use the ENTER key to conclude the input. Two inputs have to be made here, the Point Id and the Antenna Height.
Entering information, contd. Listboxes When ENTER is pressed the focus is moved to the next input field: Some input fields expect a predefined input. The choices are available in a list which is kept behind the input field. Input fields based on a listbox are identified by a small triangle which appear on the right side of the field. The following example shows 3 such input fields in one screen: The input for Configuration Set, Job and Antenna has to be made based on a list.
6 7 8 9 Listboxes, continued Press F1 CONT to confirm the selection. This will then also close the listbox You can speed up the selection by entering the name of your choice. If in this particular example "T" is entered, the focus will automatically move to "TEST_PP Rapid Static PP". On the right side of the screen you see a vertical "scroll bar" which indicates the current positio n within the list. In this particular example the current focus is about 20 % below the top of the list.
Taking Static / Rapid-Static measurements 6 Step 2: Study the icons Turn on the sensor by pressing the ON-button on the terminal. One of the following two screens will appear on the display: Most important at this stage is the top part of the screen which contains several symbols (icons) which indicate the current system status. Accu racy Statu s Posit ion M ode No. v isible Sate llites No. S atellit es us ed on L1/L2 Radio Statu s GSM Statu s Mem ory S Auto tatus Posit ion L og.
6 7 8 9 3 Step 2: Study the icons, continued Once a minimum of 3 satellites is tracked the sensor can start computing a position. As soon as a position is available it will be indicated by an icon on the far left of the status line. Since for postprocessing surveys no realtime link will be used, the icon will always indicate the availability of an autonomous position ("navigated position") with an accuracy of about 100 meters.
Step 3 (optional): Format your memory card Before you start logging data you may want to (re-)format your PC-card or your internal memory. You are now in the Utilities \ Format Memory Module panel: This step is only necessary if a completely new PC-card is used or all existing data should be deleted ! If you want to format the PC-card just press F1 CONT to format the card. If you want to format the internal memory press ENTER. A listbox opens which allows you to select the internal memory.
6 7 8 9 3 Step 3 (optional): Format your memory card, continued Step 4: Begin a survey Use the cursor key to highlight Internal, then press ENTER. Then press F1 CONT in order to start the formatting process of the internal memory. Enter the Survey operation by either pressing 1 in the Main\ panel or by first navigating to "1 Survey" via cursor keys and then pressing ENTER or F1 CONT. Once the formatting of the card is completed the MAIN\ panel will reappear.
Step 4: Begin a survey, continued A Configuration Set (Config Set) is a collection of certain sensor parameters needed to perform a certain operation, like data recording rates, point id templates, data formats, antenna types, coding methods, etc. Several default configuration sets exist which cover standard survey scenarios. How to create new configuration sets is described in a later chapter as well as in the Technical Reference Manual. For static survey you should select the PP_STAT configuration set.
6 7 Step 4: Begin a survey, continued Now press F2 NEW. The following panel appears: As an example we can create a new job called "Test": You can now enter a name for a new job; press ENTER upon completing the input of the name. Input fields for description and creator are optional and can be left blank. By default the new job will be assigned to the PC-card. If needed this can be changed to internal by toggling this input field to "Internal".
Step 4: Begin a survey, contd. Step 5: Logging raw data This selection is made in the usual way: first use the cursor down key to get this input field highlighted. Then use the cursor left key to toggle among the several options until the right one appears. Alternatively you can press the ENTER key to get a listbox from which the choice can be made. We are now within the main Survey panel.
6 7 8 9 3 Step 5: Logging raw data, continued A new icon is now displayed which indicates that raw data is logged. Raw data (containing pseudorange and phase measurements to each tracked satellite) is logged at predefined intervals (by default every 10 seconds, which is the "observation recording rate" set in the default PP_STAT configuration set): Enter a Point Id by filling in the input field. If you make a typing error correct the mistake by pressing the CE key (Clear Entry).
Step 5: Logging raw data, continued Step 6: Ending a survey Once sufficient amount of raw data has been collected the survey of the point can be completed by pressing F1 STOP. The STORE key has become active, and you have still the chance to check and correct entered point id and antenna height. You can now quit the survey operation panel by pressing SHIFT F6 QUIT. This brings you back to the main menu. 6 The screen is altered as follows: Conclude the survey sequence by again pressing F1 STORE.
6 7 8 9 3 Step 6: Ending a survey, conts. Suggested exercise: Measure a very short baseline You can now switch off the sensor. Once power is off, put the equipment back into the shipping case. It might be a useful exercise to start with a very simple static baseline. You might now move to another site and repeat the procedure outlined in this chapter. Once your fieldwork is finished you can proceed by processing the collected data in SKIPro in order to get accurate baseline results.
Exploring the sensor status during operation The terminal gives direct access to all relevant status information via a dedicated STATUS key. This key located in the center of the terminal is accessible at any time and regardless of the current system operation. By pressing STATUS the following menu appears: It is now very simple to navigate further through all available status screens. Either use the cursor up / cursor down key to highlight the various options, then press either F1 CONT or ENTER.
6 7 Satellite status Select "1 Survey" \ "5 Satellite". The following display appears: 8 9 3 3 For each satellite the following information is provided: SV number Elevation and azimuth Signal strength on L1 and L2 Quality indicator for L1 and L2 measurements This panel provides valuable information on the current performance of your sensor: All satellites above the default minimum elevation of 15 degree should be tracked.
Satellite status, continued Press F5 SKY to get a skyplot representing the position of each satellite with respect to the Zenith and North: Stop & Go indicator Press F1 CONT to get back to the STATUS \ Satellite screen. Press F1 again to exit the STATUS menu and return directly to the screen from where STATUS was called. The same can be achieved by pressing ESC several times; this brings you back step by step until you will also end up at the screen from which STATUS was initially called.
6 7 8 Stop & Go indicator, contd. Once a point is occupied a percentage counter becomes active which informs the user on the site occupation status: 9 3 3 Battery and memory status The way the completion counter is programmed is based on years of practical experience. Although the settings are on the conservative side there is no guarantee that baseline results will meet the accuracy specifications of System 500 after the post-processing of the data.
Battery and memory status, contd. Display current navigated position The graphics indicate the level of consumption for each device. For instance in this particular example about 35 % of the PC-card is already used up. The current position can be found under STATUS in submenu "1 Survey / 3 Position".
6 7 8 9 3 3 Suggested exercise: Get familiar with system status Start up a sensor and begin a Survey. Start measuring a point (by pressing F1 OCUPY in the main Survey panel) Explore various status screens: - Satellite Status - Skyplot - Watch the Stop & Go indicator - Check battery level - Current (navigated) position Finish the site occupation (by pressing STOP and STORE after entering a Point Id and an Antenna Height).
Changing the system configuration parameters The user has direct access to all It is again very easy to navigate configuration parameters via the CONFIG key. Almost all currently used configuration parameters can be altered any time. Access to these parameters is via the CONFIG button. Upon pressing it, the following menu appears: 6 further and get access to individual parameters: Either by pressing numbers (e.g.
6 7 Turning on the illumination of the terminal Changing the observation rate Certain parameters of the Terminal can be configured under "3 General\ 6 TR500" : You might want to change the rate at which observations are recorded. This parameter can be found under "2 Operation \ 3 Logging": 8 The requested changes are activated upon pressing F1 CONT. This keystroke brings you then straight back to the screen from which the Configuration program was activated.
Changing the observation rate, contd. Warning If "Log Static Obs" is switched to NO then no raw data will be logged anymore. No data will then be available for post-processing ! Setting local time zone It is not recommended to switch "Log Moving Obs" to YES ! This parameter is only of interest in case kinematic observations should be postprocessed.
6 7 8 9 3 3 9 3 Setting local time zone, contd. Changing distance units from meter to feet Afterwards press F1 CONT to activate the selection. You will then see the correct local time being displayed in the upper right corner of the status line. This can be done in panel CONFIG "3 General / "1 Units". The following screen becomes accessible: There is usually no need to modify initial time or the initial position, even if the current settings are completely wrong.
Creating new configuration sets In case the factory default configuration sets do not fully meet your requirements you can easily create new ones by carrying out the following procedure: Highlight the configuration set which you want to copy to a new one. The parameters of this set will be copied across to the new one you will create by pressing F2 NEW. Select "6 Configure" from the Main menu. The main menu is the first one to appear after power on.
6 7 8 9 3 3 9 3 4 Programming Wake-up Sessions The Auto-Wake-up functionality allows you to preprogram the operation of a sensor. By defining start and end times and a configuration set the sensor will automatically start up at the predefined time and take measurements according to the configured parameters and again stop at the predefined time. This function is useful if a sensor has to be left unattended and the GPS survey campaign is still hours ahead. This way battery power and memory is saved.
Programming Wake-up Sessions, contd. Define the configuration set you want to use. Highlight this input field and press ENTER. A listbox will appear from which you can choose the appropriate configuration set. Make sure that this set is configured such that observations will be logged otherwise there will be no data available for subsequent postprocessing in SKI-Pro. Define Start Date by typing in the date when the session should be executed.
6 7 8 9 3 3 9 3 4 Programming Wake-up Sessions, contd. Press F1 CONT to get back to the "New Wake-up Session" display. The Point Id of your choice is selected. Now enter the antenna height. It is recommended to measure the antenna height while you prepare the wake-up session. Last but not least it is possible to define repetitions of one and the same session. Enter a number for " # of execut's" different from one if you want this particular session to be carried out more than once.
Kinematic and Stop & Go surveying - using static initialization 6 Introduction and general comments Kinematic measurements will provide the trajectory of a moving antenna. If for instance raw data is logged every second, the result will be 3 dimensional coordinates for every second the antenna was moved.
6 7 8 9 3 3 9 3 4 7 Equipment setup for Kinematic and Stop & Go surveys The rover is kept perfectly steady during the static initialization. Movements of even a few centimeters only can cause difficulties in post-processing of such data, leading to unresolved ambiguities and therefore poor accuracy of the starting point as well as all subsequently measured points. On the reference site static measurements have to be taken.
Carrying out Kinematic and Stop & Go measurements Step 1: Setting up the reference site Step 2: Starting the rover sensor Follow the instructions given in the previous chapters on running a static survey. Kinematic and Stop & Go surveys are part of the "Survey" operation of System 500, to be found under "1 Survey" in the Main menu. Make sure the "observation rate" is the same as the one you choose for the roving sensor and that logging of static data is turned on.
Carrying out Kinematic and Stop & Go measurements, contd. 6 Select a job of your choice.
Carrying out Kinematic and Stop & Go measurements, contd. You are now ready to move your antenna. You can expect coordinates with centimeter accuracy as long as lock to a minimum of 4 to 5 satellites is maintained. Observations are logged while moving, which is indicated by a switch in the status symbol from "Static" to "Moving": If you are only interested in the trajectory of your antenna, then just get moving.
6 Initialization on a known point Step 4: Ending a kinematic and stop & go operation. Static initializations can be speeded up by occupying a point with known coordinates. End a kinematic or stop & go survey by pressing SHIFT F6 QUIT. This will of course also end logging of raw data. 3 If the coordinates of a point are known in the WGS84 system to within 5 - 10 cm, the static initialization can be accomplished with about 20 to 30 seconds of measurements (10 to 15 epochs).
Kinematic "on the fly" Kinematic on the fly measurements provide the trajectory of a moving sensor without the necessity of a static initialization. The sensor can be moved from the first observation epoch onwards. Accurate results on the centimeter level can only be obtained if dualfrequency phase measurements are available. Thus this method is restricted to SR520 and SR530 sensors. Single-frequency receivers like the SR510 sensor cannot be used for precise kinematic on the fly measurements.
Kinematic "on the fly", contd. 6 Taking measurements 7 As soon as the main Survey panel is accessed, data logging commences according to the configured logging parameters. You will see the status icons changing from moving to static in case you press F1 OCUPY. After finishing a point occupation by pressing F1 STOP and F1 STORE the measurement mode will switch back to "moving". 8 9 3 3 9 3 4 7 3 5 SKI-Pro will process such data and resolve ambiguities "on the fly".
Practical hints for Kinematic, Stop & Go and Kinematic on the fly measurements It is very important to use a period of time where the satellite constellation is strong; a window with more than 6 satellites is ideal. Distances between reference and rover should be kept short. Ideally this distance does not exceed 3 to 5 km 6 Include independent checks in your measurements. Either measure a point twice based on different initializations, or include known points into your survey.
6 7 8 9 3 3 9 3 4 7 3 5 6 7 9 Miscellaneous These guidelines cover only a small subset of the functionality which is available on System 500 sensors. Most of the functionality is used only in realtime applications. This chapter lists additional features which might be of use also for static or kinematic surveys. Detailed descriptions can be found in the Hardware User Manual. System 500 sensors can be used without any terminal at all.
Appendix: Summary of status icons The following Status Icons are supported by the sensor during static and kinematic measurements. 6 Number of visible satellites 7 8 Position / accuracy status Navigation (<100m) When no icon is shown no position is available. This usually means that no (or not enough satellites) are tracked. Other accuracy levels are not supported unless realtime corrections are received through a radio.
6 7 Appendix: Summary of status icons, contd. Memory status Battery status Internal Memory selected Battery Voltage OK PC-Card selected Battery supplying 2/3 peak voltage Safe to remove PC-Card Battery supplying 1/3 peak voltage 3 Memory level Indicator. Has 12 levels between: Battery empty 9 Memory Empty and 8 9 3 3 4 Memory Full 7 3 5 6 7 9 Observation recording status The Receiver is recording raw GPS observations in Stationary mode. The Receiver should be held stationary.
Appendix: Measuring antenna heights MRP VE1 VE2 MRP MRP VE1 VE2 6 VE1 VE2 VO=0 VO = 0 VO VR 7 8 9 VR 13 VR 23 29 33 AT502 Pole AT502 Tripod AT502 Pillar If you are using the antenna on a pole select the antenna type AT502 Pole (or AT501 Pole) during the begin of a survey. The Vertical Height Reading (VR) per default is 2m. Normally you do not have to change this value. The Vertical Offset (VO) is 0m and is applied automatically.
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