20 30 40 50 gps system 500 - university of texas at...

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Getting Started with Static and Kinematic Surveys

GPS System 500

2 Static and Kinematic Surveys-2.0.0en

Congratulations on your purchase of a new LeicaSystem GPS500.

System GPS500

3Static and Kinematic Surveys-2.0.0en

Introduction

Equipment checklist for static and rapid static measurements using system 500

Setting up System 500 for a static survey

Using the TR500 terminal

Taking Static / Rapid-Static measurements

Exploring the sensor status during operation

Changing the system configuration parameters

Creating new configuration sets

Programming wake-up sessions

Kinematic and Stop & Go surveying - using static initialization

Kinematic "on the fly"

Practical hints for kinematic, Stop & Go and

Miscellaneous

Appendix: Summary of status icons

Appendix: Measuring antenna heigths

View of chapters

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4 Static and Kinematic Surveys-2.0.0enContents

Contents

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 ............................. 9Menus ......................................................................... 9Entering information ....................................................10Listboxes .................................................................... 11Hardkeys ....................................................................12

Taking Static / Rapid-Static measurements13Step 1: Power on ........................................................13Step 2: Study the icons ...............................................13Step 3 (optional): Format your memory card .................15Step 4: Begin a survey ................................................16Step 5: Logging raw data .............................................19Step 6: Ending a survey ..............................................21Suggested exercise: Measure a very short baseline .....22

Exploring the sensor status during operation...................................................................... 23

Satellite status ............................................................24Stop & Go indicator .....................................................25Battery and memory status .........................................26Display current navigated position ................................27Suggested exercise: Get familiar with system status ....28

Changing the system configurationparameters ................................................... 29

Turning on the illumination of the terminal .....................30Changing the observation rate ......................................30Setting local time zone................................................31Changing distance units from meter to feet ...................32

Creating new configuration sets ................ 33

Programming Wake-up Sessions .............. 34


Contents, contd.

Contents

Kinematic and Stop & Go surveying - usingstatic initialization ........................................ 37

Introduction and general comments .............................37Equipment setup for Kinematic and Stop & Go surveys 38Carrying out Kinematic and Stop & Go measurements .39Initialization on a known point ......................................42

Kinematic "on the fly" ................................. 43

Practical hints for Kinematic, Stop & Go andKinematic on the fly measurements .......... 45

Miscellaneous .............................................. 46

Appendix: Summary of status icons ......... 47

Appendix: Measuring antenna heights ..... 49


Introduction

The purpose of this short manual isto give guidelines and useful hints onhow to perform static, rapid static andkinematic surveys using SR510,SR520 or SR530 GPS receiverswithout utilizing Realtime techniques.

Realtime applications, based on theuse of radio modems - in particularRTK (Real-Time-Kinematic) opera-tion with SR530 receivers - aredescribed in the booklet "GettingStarted with Real-Time Surveys".

Full description of all features andfunctions of System 500 can befound in the "Technical Reference"Manual which is available as anelectronic PDF document only. Thismanual can be found on the SKI-Proinstallation CD. For more informationplease refer to the file\MANUALS\README.TXT on theSKI-Pro installation CD.

It is assumed that the reader of thismanual is familiar with the principlesof GPS Surveying, i.e. he knows theconcept of differential measure-ments, the need for a referencereceiver, etc. A basic introduction ofthese principles is given in thebooklet "General Guide to Static andRapid Static".

After studying these guidelines a userwill know the basic concepts andprinciples of how to operate System500 and carry out static, rapid staticand kinematic GPS surveys.

Introduction

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Equipment checklist for Static and Rapid-Static measurements using System 500Batteries are needed to power thesensor. Standard are two camcorderbatteries which are plugged into thebackside of the sensor and power theunit for about 6 hours.

Warning

Brand new camcorderbatteries need about 5charging cycles beforereaching the full capacity. It ishighly recommended to fullycharge and dechargecamcorder batteries for 4 to 5times before start-ing usingthem for practical fieldwork.This is easily accomplishedby plugging them into thesensor and having the sensorturned on until the sensorswitches off automaticallyonce the batteries get flat.Then simply recharge themand repeat this exercise.

Equipment checklist

If you want to use System 500 forStatic or Rapid-Static survey then theminimum equipment you need is apair of System 500 units.

Each unit comprises a SR510 orSR520 or SR530 sensor.

A single frequency SR510 sensorrequires an AT501 single frequencyantenna; SR520 and SR530 sensorsneed to be connected to a dual-frequency antenna, normally theAT502 standard antenna or - forutmost accuracy - high precisionchokering antennas: either a AT503or AT504.

An antenna cable is needed toconnect the sensor and the antenna.

A TR500 terminal - a keyboard &display device - is needed to easilystart the operation, check systemstatus and manipulate sensorparameters.

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8 Static and Kinematic Surveys-2.0.0enSetting up System 500 for a Static survey

Setting up System 500 for a static surveyConnect the antenna to the sensorusing the antenna cable.

Plug two camcorder batteries into thebackside of the sensor. Alternativelyor in addition you might want topower the sensor externally. In thiscase connect a GEB71 battery to oneof the PWR- ports of the sensor.

Attach the TR500 terminal to thesensor, either directly or via aconnection cable by plugging it intothe TERMINAL-port on the sensor.

Insert a PC-card into the sensor.

Warning

Lock the lid carefully afterinsertion of the card in orderto prevent water and dustfrom getting inside thesensor.

Use the hook on the backside of thesensor to hang it on one of the tri-podlegs. Alternatively you may want toleave the sensor inside the shippingcase.

Your System 500 sensor is now fullyready for operation.

Successful GPS surveys requireundisturbed satellite signal reception.This means that GPS sensors shouldbe set up in locations which are freeof obstructions. No obstacles liketrees, buildings, mountains, etc.should block the line between theGPS antenna and GPS satellites.This holds true in particular for thesensor which serves as thereference.

For static and rapid static surveys,the antenna must be kept perfectlysteady throughout the wholeoccupation of a point. This meansthat the AT501 or AT502 antenna willusually be put on a tripod.

Center and level the tripod preciselyabove the survey marker. Place andlock the carrier in the tribrach. Mountthe antenna onto the carrier.

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9Static and Kinematic Surveys-2.0.0en Using the TR500 terminal

Using the TR500 terminal Menus

A typical example can be found inthe main menu:

You can see 7 different choices. Line"1 Survey" is highlighted whichmeans that this is the currentlyselected choice.

You can navigate up and down thescreen using the cursor up / downkeys on the terminal. The highlightedbar will follow accordingly. Forinstance press the "cursor down key"

twice to highlight "3 Applications":The function keys at the bottom of thescreen describe certain commands. Iffor instance you want to enter the"Applications" part of the software youpress F1 CONT (to continue).

In order to operate System 500 someinteractions between the user and theTR500 terminal are usually required.You will find the operating concept ofthe onboard software intuitive andeasy to use. All screens and panelsare steered in the same way whichmakes the software very userfriendlyand easy to learn.

This chapter explains by use of someexamples how to operate theterminal. These operationalguidelines apply to all parts of theSystem 500 onboard software.

We basically distinguish betweenmenus and screens which require acertain input.

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10 Static and Kinematic Surveys-2.0.0enUsing the TR500 terminal

Menus, continued Entering information

A typical example can be found inthe main Survey panel:

Two inputs have to be made here, thePoint Id and the Antenna Height. Usethe cursor down / up keys to move tothe desired input field. In the currentexample the Point Id can be entered.

Use the alphanumeric keys on theterminal to enter the information.

Use the CE key to correct any typingerror.

Use the ENTER key to conclude theinput.

A shortcut is to press the numberswhich are associated with eachchoice directly. For instance if youpress "6" you will get straight into"Configure"

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11Static and Kinematic Surveys-2.0.0en Using the TR500 terminal

ListboxesEntering information, contd.

Use numeric keys to enter theantenna height.

When ENTER is pressed the focus ismoved to the next input field:

The input for Configuration Set, Joband Antenna has to be made basedon a list.

Press ENTER to open the highlightedlistbox. A list pops up from which achoice has to be made:

Use the cursor down / up keys tomove the selection bar down or up thelist. Select your input by highlightingthe particular line.

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Some input fields expect a predefinedinput. The choices are available in alist which is kept behind the inputfield.

Input fields based on a listbox areidentified by a small triangle whichappear on the right side of the field.The following example shows 3 suchinput fields in one screen:

12 Static and Kinematic Surveys-2.0.0enUsing the TR500 terminal

Listboxes, continued

Press F1 CONT to confirm theselection. This will then also closethe listbox

You can speed up the selection byentering the name of your choice. Ifin this particular example "T" isentered, the focus will automaticallymove to "TEST_PP Rapid StaticPP".

On the right side of the screen yousee a vertical "scroll bar" which indi-cates the current positio n within thelist. In this particular example thecurrent focus is about 20 % belowthe top of the list. Such a scrollbarbecomes useful when the listbox isvery long.

If the listbox is very long it mightbecome cumbersome to navigate bypressing cursor down / up to movedown and up the list. In such casespress the SHIFT key to get access topage down / up, home and end keys:

Another way to make a selectionfrom a listbox is by using the cursorleft / cursor right keys. Instead ofopening a list box press the cursorleft or cursor right keys to togglebetween different choices.

The terminal supports someadditional useful hardkeys:

The ESC key allows you to "escape"from a screen. Instead of executing acommand you get back to theprevious screen.

The STATUS key provides directaccess to all system status informa-tion, based on a certain menustructure

The CONFIG key allows to changeconfiguration parameters duringoperation.

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Hardkeys

13Static and Kinematic Surveys-2.0.0en Taking Static / Rapid-Static measurements

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Taking Static / Rapid-Static measurements

Step 2: Study the icons

Upon power on you will first recognizethe "Number of visible Satellites"icon, indicating the number ofsatellites which are theoreticallyvisible at the current location andtime. Usually this number variesbetween 4 and 10, depending on thesatellite geometry.

Next to this symbol you find the"Number of Satellites used on L1 /L2" icon, indicating the number ofsatellites currently tracked either onL1 or on L2.

Upon power on you will read L1: 0,L2: 0. It will take about 30 secondsuntil these number will start changingand very soon reach the number ofvisible satellites.

Both "Number of visible satellites"and "Number of satellites used" iconswill change from time to time, re-flecting changes in the satellitegeometry due to either the rise ofnew satellites or the setting of de-scending satellites.

Step 1: Power on

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Turn on the sensor by pressing theON-button on the terminal. One ofthe following two screens will appearon the display:

Most important at this stage is the toppart of the screen which containsseveral symbols (icons) whichindicate the current system status.

14 Static and Kinematic Surveys-2.0.0enTaking Static / Rapid-Static measurements

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Step 2: Study the icons, continued

If the "number of satellites used"differs from the "number of visiblesatellites" make sure you place theantenna in an open area withoutobstructions, since any obstacle willblock the view of satellites.

When you switch on the unit for thevery first time it might take a maxi-mum of 5 minutes until all satellitesare tracked. This can happen in caseyour current location differssignificantly (i.e. > 1000 km) from theinitial position which is the positionwhere your sensor has been usedbefore. Once you are trackingsatellites, the position memory in thesensor will be updated.

The battery status icon at the rightside of the icon line shows fromwhich source the sensor is currentlypowered. A and B indicate theinternal batteries, E an externalbattery source. The symbol alsoindicates the voltage level of thecurrently used battery in 4 differentstages from "full" (fully black) to 2/3to 1/3 and "almost flat" (white color).

The memory status icon givesseveral information: whether memoryfor logging data is available or not.Options are either a PC-card orinternal memory. If a PC card isavailable and configured for use thenat this stage an arrow indicates thefact that it is safe to remove the PC-card from the sensor. The little bar onthe right side indicates the availablememory on either the PC-card or theinternal memory.

WarningYou cannot proceed fromhere if no memory device isavail-able. Insert a PC-cardother-wise no GPS surveycan be carried out.

All status symbols which are relevantfor static and kinematic measure-ments are listed in the appendix.

Once a minimum of 3 satellites istracked the sensor can startcomputing a position. As soon as aposition is available it will beindicated by an icon on the far left ofthe status line. Since for post-processing surveys no realtime linkwill be used, the icon will alwaysindicate the availability of anautonomous position ("navigatedposition") with an accuracy of about100 meters.

As soon as the position iconbecomes visible the sensor is in astage where practical operation cancommence.

If the position icon does not becomevisible even after one or two minutesthen the sensor is still not trackingsatellites. If the "number of satellitesused" is still zero please checkwhether the antenna cable isconnected properly to both sensorand antenna.


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Step 3 (optional): Format your memory card

You are now in the Utilities \ FormatMemory Module panel:

If you want to format the PC-card justpress F1 CONT to format the card. Ifyou want to format the internalmemory press ENTER. A listboxopens which allows you to select theinternal memory.

Before you start logging data youmay want to (re-)format your PC-cardor your internal memory.

This step is only necessary ifa completely new PC-card isused or all existing datashould be deleted !

Press 4 on the terminal or use thecursor down key to highlight the line"4 Utilities", then press ENTER;alternatively press F1 CONT.(If only lines 1 to 3 are visible at thisstage press F4 SHOW first).

Then press 2 to get access to the"Format Memory Module" panel, oralternatively use the cursor key tonavigate to "2 Format Memory Mod-ule" and press ENTER; againalternatively press F1 CONT.


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Step 3 (optional): Format your memory card, continued

Once the formatting of the card iscompleted the MAIN\ panel willreappear.

Step 4: Begin a survey

Enter the Survey operation by eitherpressing 1 in the Main\ panel or byfirst navigating to "1 Survey" viacursor keys and then pressingENTER or F1 CONT.

The following panel will appear:

Some basic decisions have to bemade in this panel:Which configuration set should beactivated, in which job the raw datashould be stored and which antennasetup should be used.

Use the cursor key to highlightInternal, then press ENTER. Thenpress F1 CONT in order to start theformatting process of the internalmemory.

Warning

By activating the formatcommand all data will be lost!Make sure that all importantdata which resides on thePC-card is properly backed-up before reformatting thecard. If you want to reformatthe internal memory makesure that all important data isfirst transferred to the PC.

If you realize that you do not want toformat the memory device, simplypress ESC instead of F1 CONT. Thiskeystroke brings you always a stepback into the previous panel withoutexecution of any command.


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Step 4: Begin a survey, continued

Now use the cursor up or cursordown key on the terminal to highlightthe PP_STAT line. Then pressENTER or F1 CONT.

Jobs are used to organize andstructure the data you collect in thefield. Jobs can comprise an unlimitednumber of points together with allrelated information (raw measure-ments, codes, point annotation, etc.).

It is suggested to create a new jobwhenever you start a new project.

Upon formatting the memory device(i.e. PC-card or internal memory) adefault job is automatically created.You can either use this job straightaway or you can create your own jobby doing the following:

Move the cursor up or cursor downkey of the terminal into the input fieldfor jobs. Then press ENTER. Thefollowing lisbox will appear:

Then a list box showing all availablesets becomes available:

A Configuration Set (Config Set) is acollection of certain sensorparameters needed to perform acertain operation, like data recordingrates, point id templates, dataformats, antenna types, codingmethods, etc.

Several default configuration setsexist which cover standard surveyscenarios. How to create newconfiguration sets is described in alater chapter as well as in theTechnical Reference Manual.

For static survey you should selectthe PP_STAT configuration set. Youcan make this selection either byusing the cursor left key to togglebetween all available configurationsets until PP_STAT appears or youcan highlight the input field and pressENTER.


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As an example we can create a newjob called "Test":

After pressing F1 CONT the list ofavailable jobs is updated and nowalso shows the job "Test":

You can now enter a name for a newjob; press ENTER upon completingthe input of the name. Input fields fordescription and creator are optionaland can be left blank.

By default the new job will beassigned to the PC-card. If neededthis can be changed to internal bytoggling this input field to "Internal".

Pressing F1 CONT which confirmsthe creation of a new job name andits location. Press ESC if you want toleave this field without creating a newjob. Pressing F6 QUIT has the sameeffect.

Now press F1 CONT to confirm theselection of the newly created job.

Finally you have to select theantenna type and antenna setupwhich you are using. Normally thiswill be AT502 on tripod (or AT501 ontripod in case of a SR510 sensor).

See Technical Reference Manual"Measuring Antenna Heights" forfurther details.

Step 4: Begin a survey, continued

Now press F2 NEW. The followingpanel appears:


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Step 4: Begin a survey, contd. Step 5: Logging raw data

As soon as you are tracking aminimum of 4 satellites, the positionicon is visible and the antenna isplaced correctly above the surveymarker, you should press F1 OCUPY.

This activates logging of raw dataand the screen changes accordingly:

The position mode icon has changedto static, indicated by a symbol of atripod.

Pressing F1 CONT finishes thisstartup sequence.

It is time to check again the icons onthe top of the display: The positionicon should be available, the positionmode icon still indicates "moving" ,the "number of satellites visible" iconshould display a number greater or atleast 4, and the number of usedsatellites should be identical to thenumber of visible satellites.

This selection is made in the usualway: first use the cursor down key toget this input field highlighted. Thenuse the cursor left key to toggleamong the several options until theright one appears. Alternatively youcan press the ENTER key to get alistbox from which the choice can bemade.

Now all required settings for a staticsurvey are made. The Survey \ Beginpanel looks as follows:

We are now within the main Surveypanel. The way the sensor iscurrently configured, the panel willlook as follows:


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Step 5: Logging raw data, continued

Enter this reading into the antennaheight field. Since the antenna youhave selected is "AT502 Tripod"(AT501 Tripod in case of a SR510sensor) the offset from the heighthook to the phase center of theanten-na is automatically taken careof.

These are the only two inputs neededfor surveying a point.The Static observation counter(Static obs) will now go up every 10sec-onds (because this is the defaultlogging interval).

The displayed GDOP value indicatesthe current satellite geometry; thelower the value the better.

Warning

The antenna must not bemoved while data is logged,other-wise the quality of post-processed coordinates will beimpaired !

Warning

The PC-card must not beremoved while in the Surveypanel. If the card is taken outof the sensor all stored datamight get corrupted,preventing SKI-Pro fromsuccessfully reading the dataon the card.

The TR500 terminal may now bedisconnected. This will have no effecton the survey ! Datalogging willcontinue. When reconnecting the ter-minal the same panel will reappear.

Datalogging should continuedepending on your observation plan:a sensor used as reference has torun permanently until all rover siteoccupa-tions are completed. If a unitis operated as a roving receiver thesite occupation time depends mainlyon the baseline length and youraccuracy requirements. See "GeneralGuide to Static and Rapid Static" fordetails.

Raw data (containing pseudorangeand phase measurements to eachtracked satellite) is logged atpredefined intervals (by default every10 seconds, which is the"observation recording rate" set in thedefault PP_STAT configuration set):Enter a Point Id by filling in the inputfield. If you make a typing errorcorrect the mistake by pressing theCE key (Clear Entry). Complete theinput by pressing ENTER.

Now use the height hook todetermine the height of the antennaabove the survey marker. Insert theheight hook into the carrier andmeasure the height between thewhite mark at the bottom of theheight hook and the survey marker.

A new icon is now displayed whichindicates that raw data is logged.


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Step 5: Logging raw data, continued

The STORE key has become active,and you have still the chance tocheck and correct entered point idand antenna height.

Conclude the survey sequence byagain pressing F1 STORE.

After pressing the STORE key allrelated information will be stored inthe currently used job (point id,antenna heights, etc.)

Step 6: Ending a survey

Once sufficient amount of raw datahas been collected the survey of thepoint can be completed by pressingF1 STOP.

The screen is altered as follows:

You can now quit the survey operationpanel by pressing SHIFT F6 QUIT.This brings you back to the mainmenu.

Pressing SHIFT F6 willalways allow you to terminatethe survey operation, evenduring a site occupation. Inthis case you will loose alldata collected since pressingOCUPY.

As soon as you are back to the mainmenu the PC-card may be removed.This is indicated by the PC-card iconin the status line which contains anarrow:


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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 equipmentback into the shipping case.

You might now move to another siteand repeat the procedure outlined inthis chapter. Once your fieldwork isfinished you can proceed byprocessing the collected data in SKI-Pro in order to get accurate baselineresults.

It might be a useful exercise to startwith a very simple static baseline.

� Choose a location which is free ofobstructions.

� Mark two points on the groundwhich are a few meters apart andmeasure the distance by tape (forcomparison later on)

� Set up two System 500 sensors ontripod as explained in chapter 2.

� Log raw data simultaneously oneach unit for about 10 minutes,using the PP_STAT configurationand newly created jobs.

� Measure and record the height ofthe antennas correctly using theheight hook.

� Enter Point Id's of your choice

� Transfer the data of both sensorsinto SKI-Pro and post-process thecollected raw data.

� Compare the GPS results with yourinitial tape reading. The resultingslope distance should not differ bymore than a few millimeters.

23Static and Kinematic Surveys-2.0.0en Exploring the sensor status during operation

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Exploring the sensor status during operationIt is now very simple to navigatefurther through all available statusscreens. Either use the cursor up /cursor down key to highlight thevarious options, then press either F1CONT or ENTER. A quicker way is topress numbers 1 , 2, 3 or 4 to getdirect access to the next level ofstatus menus.

A detailed description of all statusscreens can be found in theTechnical Reference Manual.

This short guideline will onlyconcentrate on the screens which areimportant for Static and Rapid-Staticmeasurements.

The terminal gives direct access toall relevant status information via adedicated STATUS key. This key -located in the center of the terminal -is accessible at any time andregardless of the current systemoperation. By pressing STATUS thefollowing menu appears:

24 Static and Kinematic Surveys-2.0.0enExploring the sensor status during operation

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All satellites above the defaultminimum elevation of 15 degreeshould be tracked.

Tracked satellites will show signalstrength values between 32 and 51(SN1 and SN2 - Signal / Noise valueson L1 and L2). High elevationsatellites should have valuesbetween 45 and 51. Low elevationsatel-lites (elevations below 20degree) will show values between 32and 40.Not tracked satellites are shown witha dash line instead S/N values.

The measurement quality is indicatedwith numbers of up to 99 in the QI1and QI2 column. Values will usuallyvary between 80 and 99. Lowervalues indicate disturbed signalreception, for instance caused bytrees, leaves, or very activeatmospheric conditions.

If you find satellites above 15 degreewhich are not tracked then the line ofsight between the antenna and thesatellite is most likely blocked byobstructions.

If more than 6 satellites are in viewyou have to use the cursor down / upkeys to scroll up and down thescreen and get the information onthose satellites which do not fit ontothe same screen.

Satellite status

For each satellite the followinginformation is provided:

� SV number

� Elevation and azimuth

� Signal strength on L1 and L2

� Quality indicator for L1 and L2measurements

This panel provides valuableinformation on the currentperformance of your sensor:

Select "1 Survey" \ "5 Satellite". Thefollowing display appears:


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The center of the graph representsthe Zenith, the circles represent linesof equal elevation: 15 degree - 30degree - 60 degree (from outside toinside).

Stop & Go indicatorSatellite status, continued

Press F1 CONT to get back to theSTATUS \ Satellite screen.

Press F1 again to exit the STATUSmenu and return directly to thescreen from where STATUS wascalled. The same can be achieved bypressing ESC several times; thisbrings you back step by step until youwill also end up at the screen fromwhich STATUS was initially called.

Press F5 SKY to get a skyplotrepresenting the position of eachsatellite with respect to the Zenithand North:

The Stop & Go indicator helps usersto judge the necessary siteoccupation time for rapid staticmeasurements for sensors used asrovers.

A minimum site occupation time iscalculated depending on variousparameters such as:

- The number of currently trackedsatellites

- The current satellite geometry(represented as GDOP)

- Number of cycle slips- The assumed baseline length

between the reference site.- The current rover position.


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The way the completion counter isprogrammed is based on years ofpractical experience. Although thesettings are on the conservative sidethere is no guarantee that baselineresults will meet the accuracyspecifications of System 500 after thepost-processing of the data.

Press F1 CONT to return to theprevious operation.

Battery and memory status

The numbers given represent the stillavailable amount of capacity.

For instance in this particularexample there is still 1.1 MB memoryleft on the PC-card.

It is recommended to continue datalogging until the completion counterindicates at least 100 %.

Additional information provided in thispanel is the time already spent on thepoint, the estimated time to go (until100% completion is achieved),number of cycle slips which occurredsince the start of this site occupation,current GDOP as well as the numberof recorded static observations.

Stop & Go indicator, contd.

Once a point is occupied a per-centage counter becomes activewhich informs the user on the siteoccupation status:

This quite useful screen is foundunder "3 General" \ "1 Memory /Battery".


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Display current navigated positionBattery and memory status, contd.

The current position can be foundunder STATUS in submenu "1Survey / 3 Position". The followingscreen is displayed:

The graphics indicate the level ofconsumption for each device. For instance in this particularexample about 35 % of the PC-cardis already used up.

Currently active devices (for bothdata recording and power consump-tion) are indicated by an asterisk

Pressing F1 CONT gets you back toyour previous operation. PressingESC brings you back one level only(in this particular case to the "STA-TUS \ General" Menu.


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Suggested exercise: Get familiar with system status

� Start up a sensor and begin aSurvey.

� Start measuring a point (bypressing F1 OCUPY in the mainSurvey panel)

� Explore various status screens:- Satellite Status- Skyplot- Watch the Stop & Go indicator- Check battery level- Current (navigated) position

� Finish the site occupation (bypressing STOP and STORE afterentering a Point Id and an AntennaHeight).

29Static and Kinematic Surveys-2.0.0en Changing the system configuration

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Changing the system configurationparameters It is again very easy to navigate

further and get access to individualparameters: Either by pressingnumbers (e.g. 2 for Operation) or byusing the cursor down / up keys andto highlight the line of interest andthen pressing F1 CONT.

A detailed description of all con-figuration parameters can be found inthe Technical Reference Manual.This guideline will focus on thosewhich are of importance to Static andRapid-Static measurements only.

In the five following subchapters wedescribe 5 different configurationexamples which are of relevance forstatic and kinematic surveys.

The user has direct access to allconfiguration parameters via theCONFIG key.

Almost all currently usedconfiguration parameters can bealtered any time. Access to theseparameters is via the CONFIGbutton. Upon pressing it, the followingmenu appears:

30 Static and Kinematic Surveys-2.0.0enChanging the system configuration

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Turning on the illumination of the terminal

In the same panel you can alsoactivate or deactivate an audiblealarm and keyclick.

The requested changes are activatedupon pressing F1 CONT. This key-stroke brings you then straight backto the screen from which theConfiguration program was activated.

Changing the observation rate

Move the focus to the next line bypressing the cursor down key. Theneither press ENTER to get access toa list box with all possible rates (from0.1 sec to 60 sec) or use the cursorleft / right keys to toggle among theseoptions one by one.

Illumination and contrast of thedisplay of the terminal can be turnedon or off. Use the "Cursor left" key totoggle between yes and no. If youselect yes you should specify a time-out: once this set time is expired, theillumination is switched off again.

Certain parameters of the Terminalcan be configured under "3 General\6 TR500" :

You might want to change the rate atwhich observations are recorded.This parameter can be found under"2 Operation \ 3 Logging":


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Changing the observation rate, contd.

� It is not recommended toswitch "Log Moving Obs" toYES ! This parameter is onlyof interest in case kinematicobservations should be post-processed.

Setting local time zone

Move the highlighted bar down to"Time Zone" by using the cursordown key. Then either toggle with thecursor left / right keys until the rightzone appears or press ENTER toopen the listbox with all possibleoptions.

Warning

� If "Log Static Obs" isswitched to NO then no rawdata will be logged anymore.No data will then be availablefor post-processing !

� If you change the recordingrate please keep in mind thatonly those observations canbe post-processed for whichdata for both reference androver sensors is available. Iffor instance one unit is re-cording every 10 seconds,and the other unit is recordingevery 15 seconds then onlydata every 30 seconds iscommon and can be post-processed !

The local time zone can easily be setunder "3 General \ 4 Time & Initialposition":

32 Static and Kinematic Surveys-2.0.0enChanging the system configuration

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Setting local time zone, contd. Changing distance units from meter to feet

To change units for distances movethe focus to this input field. Then useeither ENTER to get access to alistbox from which the preferredchoice can be made; or alternativelyuse the cursor left / right keys totoggle to the units of your choice(meters, US feet, etc.).

Also other unit parameters can bechanged here, for instance the formatin which dates should be displayed.

Confirm changes by pressing F1CONT. If you want to exit this panelwithout making any changes simplypress ESC to get one level back.

Afterwards press F1 CONT toactivate the selection. You will thensee the correct local time beingdisplayed in the upper right corner ofthe status line.

There is usually no need to modifyinitial time or the initial position, evenif the current settings are completelywrong. The sensor will automaticallyenter a "search the sky" mode and assoon as satellites are tracked timeand position will be updatedautomatically.

This can be done in panel CONFIG "3General / "1 Units". The followingscreen becomes accessible:


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Creating new configuration sets

Creating new configuration setsHighlight the configuration set whichyou want to copy to a new one. Theparameters of this set will be copiedacross to the new one you will createby pressing F2 NEW.

The following display appears:

Type in a new name. Input of adescription and a creator's name isoptional. Finish this step by pressingF1 CONT.

If you press ESC instead, then youreturn to the previous screen withouthaving created a new configurationset.

A new configuration set under thename "Test_PP" has been created.The parameters are equivalent to theone of "PP_STAT".

Now we are ready to edit theparameters of this new configurationset. Just press F3 EDIT to get into asequence of several screens whichcontain all relevant configurationparameters.

In case the factory defaultconfiguration sets do not fully meetyour requirements you can easilycreate new ones by carrying out thefollowing procedure:

Select "6 Configure" from the Mainmenu. The main menu is the first oneto appear after power on. In caseonly menu items 1 to 3 are visiblepress F3 SHOW first.


34 Static and Kinematic Surveys-2.0.0enProgramming wake-up sessions

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Programming Wake-up Sessions

Navigate to the Wake-up sessionmenu. This menu can be found under"3 Applications / 04 Wake-upSessions":

In this screen it is now possible tocreate new sessions, edit and deleteexisting sessions:Press F2 NEW to create a newWake-up Session.


Press F1 CONT.

The following display appears:Define the job in which the datashould be stored. Highlight this inputline and press ENTER. This givesyou the opportunity to select from thelist of existing jobs or to create a newjob.

The Auto-Wake-up functionalityallows you to preprogram theoperation of a sensor. By definingstart and end times and aconfiguration set the sensor willautomatically start up at thepredefined time and takemeasurements according to theconfigured parameters and againstop at the predefined time.

This function is useful if a sensor hasto be left unattended and the GPSsurvey campaign is still hours ahead.This way battery power and memoryis saved.

Wake-up sessions are programmedin the following way:

35Static and Kinematic Surveys-2.0.0en Programming wake-up sessions

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Programming Wake-up Sessions, contd.

Then press the cursor down key toget access to additional input fields:

If the point list is empty or the pointyou want to occupy is not containedin the list you have to create a newpoint by pressing F2 NEW:

You have to enter a Point Id.Navigate to this input field and pressENTER in order to get access to thepoint management:

Enter a Point Id. You can leave thecoordinates blank (the correct inputof these coordinates is only ofimportance for points which shouldbe used as realtime reference sites):Press F1 STORE to create the newpoint and get back to the previousdisplay.

Define the configuration set you wantto use. Highlight this input field andpress ENTER. A listbox will appearfrom which you can choose theappropriate configuration set. Makesure that this set is configured suchthat observations will be logged -otherwise there will be no dataavailable for subsequentpostprocessing in SKI-Pro.

Define Start Date by typing in thedate when the session should beexecuted.

Define Start Time by typing in thetime the session should start.

Define the duration of the session.The format is hours: minutes:seconds (hh:mm:ss).

36 Static and Kinematic Surveys-2.0.0enProgramming wake-up sessions

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Programming Wake-up Sessions, contd.

All necessary input is now given.Please verify the input forcorrectness by using the cursor up /down keys. Then press F1 CONT.This leads to the following display:

Press F1 CONT to confirm the newlycreated wake-up session. It is thensafe to turn off the sensor. Thesensor will then automaticallyexecute the operation as defined inthe session parameters.

Alternatively press F4 DEL to deletean already programmed session, orpress F3 EDIT to modify an existingsession, or press F2 NEW to createanother new Wake-up Session.

The session which has just beenprogrammed appears on the list andis highlighted. Session number, startdate and time as well as duration isdisplayed.

Press F1 CONT to get back to the"New Wake-up Session" display. ThePoint Id of your choice is selected.

Now enter the antenna height. It isrecommended to measure theantenna height while you prepare thewake-up session.

Last but not least it is possible todefine repetitions of one and thesame session. Enter a number for " #of execut's" different from one if youwant this particular session to becarried out more than once. In thiscase you also have to enter a interval(hh:mm:ss format). The maximuminterval to be entered is 23:59:59

37Static and Kinematic Surveys-2.0.0en Kinematic and Stop & Go surveying

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Kinematic and Stop & Go surveying - using static initialization

on a baseline not longer than 3 - 5km will be sufficient to resolve ambi-guities in post-processing. Once thisstatic initialization is accomplishedthe GPS antenna can be moved andother points of interest can beoccupied with only a few seconds ofmeasurements. High accuracy's willbe maintained as long as satellitesignal reception is not interrupted, forinstance by obstructions.

As soon as a complete loss of signallock occurs - this means that thesignal of satellites is interrupted suchthat less than 4 satellites remainunaffected - the high accuracy ofresults is lost and ambiguities mustbe reestablished first. This meansthat in such a case another staticinitialization is required.

Kinematic and Stop & Go surveyingis an efficient way of measuring manypoints quickly and efficiently, providedthe following criteria are met:

� Distances between the referencereceiver and the rover is fairlyshort, ideally less than 3 km.Baselines above 5 km should beavoided if possible.

� The surveying area is fairly openwith not many obstructionsbetween points. Obstructions willcause satellite signal interruptionswhich can cause complete lossesof lock. In such cases static re-initializations become necessarywhich slow down the fieldoperation.

Introduction and generalcomments

Kinematic measurements will providethe trajectory of a moving antenna. Iffor instance raw data is logged everysecond, the result will be 3 dimensio-nal coordinates for every second theantenna was moved.

While kinematic measurements areonly time related but not pointrelated, Stop & Go measurementsdeliver coordinates for discrete pointswhich are occupied for a short periodof time, usually a few seconds.

In order to achieve positionaccuracy's on the centimeter level ina moving environment the so called"ambiguities" must be resolved. Thesafest way is to start Kinematic andStop & Go surveys with a staticinitialization. Usually about 5 minutesof dualfrequency static observations

38 Static and Kinematic Surveys-2.0.0enKinematic and Stop & Go surveying

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� The rover is kept perfectly steadyduring the static initialization.Movements of even a fewcentimeters only can causedifficulties in post-processing ofsuch data, leading to unresolvedambiguities and therefore pooraccuracy of the starting point aswell as all subsequently measuredpoints.

� A static re-initialization is alwayscarried out after a complete loss oflock.

� Satellite geometry is strong. Thismeans that a minimum of 5satellites should be visiblethroughout the whole operation,preferably 6 or more satellites.

Equipment setup for Kinematic and Stop & Go surveys

The System 500 rangepole isdesigned such that either theterminal or the sensor itself can beattached easily. The length of therangepole is such that the totalinstrument height of an AT501 orAT502 antenna equals exactly 2meters. All vertical antenna offsetsare taken care of.

See the Technical Reference Manualfor details on how to setup a System500 sensor for kinematic and stop &go surveys.

On the reference site staticmeasurements have to be taken.Follow the instructions given inchapters 1 to 4 with regard toconducting static survey operations.

The roving sensor however might beconfigured differently in order to allowefficient operation while moving frompoint to point.

The GPS antenna can be mountedon a rangepole, and the sensor canbe stored in the System 500 Minipac;alternatively the whole sensor can bekept on the rangepole itself.


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Carrying out Kinematic and Stop & Go measurements

Step 2:Starting the rover sensor

Kinematic and Stop & Go surveys arepart of the "Survey" operation ofSystem 500, to be found under"1 Survey" in the Main menu.

� Select a suitable configuration set,preferably the factory default set"PP_KIS".

Of importance is that the data loggingparameters are set correctly forKinematic and Stop & Go surveys.Logging for both static and movingobservations must be turned on. Alsothe parameter "Static Initialization"has to be set to "YES" :

Step 1:Setting up the reference site

Follow the instructions given in theprevious chapters on running a staticsurvey.

Make sure the "observation rate" isthe same as the one you choose forthe roving sensor and that logging ofstatic data is turned on. Normally arate of 2, 3 or 5 seconds is chosenfor Kinematic and Stop & Go surveys.

Make sure that the reference receiveris operated in an environment whichis suitable for GPS measurements; itshould be free of obstructions inorder to avoid missing satellites orpoor satellite signal reception.


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Carrying out Kinematic and Stop & Go measurements, contd.

Press F1 CONT to proceed.

Step 3:Taking kinematic and Stop & Gomeasurements

After F1 CONT has been pressed thesurvey panel appears:

Start with a static point measure-ment. Measure a point for a fewminutes. Make sure you keep theantenna steady:

� Use a tripod on the starting point

� Use supporting legs (quickstand)in case the GPS antenna ismounted on a rangepole

� Hold the rangepole against afencepole or another stable object

Take the measurements of thestarting point by pressing F1 OCUPYto start logging static observations,followed by pressing F1 STOP after afew minutes and F1 STORE to storethe point related information likePoint Id and Antenna Height.

� Select a job of your choice.

� Select the antenna setup you use,most likely AT502 Pole (or AT501Pole in case a SR510 sensor isused):


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Carrying out Kinematic and Stop & Go measurements, contd.

If you want to pick up subsequentdiscrete points then just move to thenext point you want to measure.Then press F1 OCUPY, and holdyour antenna steady for a fewseconds. You have to remain on thepoint until at least one epoch of"Static observations" has beenrecorded. You can then again pressF1 STOP and F1 STORE tocomplete the point measurement. APoint Id and antenna height must beentered for such Stop & Go points.Post-processing will provide resultswith point id's and associatedcoordinates.

Make sure you avoid obstructionswhen you move from point to point.Severe obstructions might cause acomplete loss of lock which in turnwill cause a loss of accuracy in post-processing. A static reinitialization willbecome mandatory in such a case. Awarning message will be displayed toinform the user to start another"chain" of measurements:

"Another static initialization isnecessary"

In this case logging of raw data stopsautomatically. Thus you now mustcarry out another static initialization(see above).

You are now ready to move yourantenna. You can expect coordinateswith centimeter accuracy as long aslock to a minimum of 4 to 5 satellitesis maintained.

Observations are logged whilemoving, which is indicated by aswitch in the status symbol from"Static" to "Moving":

If you are only interested in thetrajectory of your antenna, then justget moving. Postprocessing willprovide you with time taggedcoordinates for every epoch at whichobservations are logged (normallyevery 2, 3 or 5 seconds).


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Step 4:Ending a kinematic and stop & gooperation.

End a kinematic or stop & go surveyby pressing SHIFT F6 QUIT. This willof course also end logging of rawdata.

Initialization on a known point

� You can now start moving andoccupy subsequent points with fewseconds of measurements. Theneed for another static initializationarises only in case of a completeloss of lock, although it isrecommended to keep such a"track" of measurements short(e.g. maximum of 20 points).

When you post-process the data inSKI-Pro you have to mark suchtracks as "Init (track)"; this ensuresthat SKI-Pro relies on the alreadyexisting coordinates for this point tofix ambiguities. Again, it is importantthat the coordinates of the startingpoints are accurate to within 5 to 10cm within the WGS84 system.

This method of initialization is ofparticular interest for SR510 sensorsbecause static initializations onunknown points are very timeconsuming with single-frequencyreceivers.

Static initializations can be speededup by occupying a point with knowncoordinates.

If the coordinates of a point areknown in the WGS84 system towithin 5 - 10 cm, the staticinitialization can be accomplishedwith about 20 to 30 seconds ofmeasurements (10 to 15 epochs).

� Get into the main Survey panel

� Start measuring by pressing F1OCUPY in order to logobservations on that point. Keepthe rangepole steady !

� After about 20 to 30 seconds pressF1 STOP.

� Make sure you enter the correctpoint id and antenna height. Thenpress F1 STORE.

43Static and Kinematic Surveys-2.0.0en Kinematic "on the fly"

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Kinematic "on the fly"The disadvantage of this method isthat an absolute minimum of 5satellites on L1 and L2 is needed toallow a fixing of ambiguities "on thefly" in post-processing.

Discrete points can also bemeasured within a "kinematic on thefly" measurement chain.

Thus the operation procedure is verysimilar to standard Kinematic andStop & Go surveying as described inthe previous chapter.

Configuration parameters forkinematic on fly:

It is important that the loggingparameters are set correctly. Theparameter "Static Init" must be set to"NO", while logging of static obser-vations and moving observationsmust be set to "YES".

Make sure that the recording rate atthe rover sensor is the same as onthe reference site.

Kinematic on the fly measurementsprovide the trajectory of a movingsensor without the necessity of astatic initialization. The sensor can bemoved from the first observationepoch onwards.

Accurate results on the centimeterlevel can only be obtained if dual-frequency phase measurements areavailable. Thus this method isrestricted to SR520 and SR530sensors. Single-frequency receiverslike the SR510 sensor cannot beused for precise kinematic on the flymeasurements.

The advantage of this measurementmethod is that the sometimes time-consuming static initialization isavoided, thus the productivity in thefield will be higher.

44 Static and Kinematic Surveys-2.0.0enKinematic "on the fly"

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Kinematic "on the fly", contd.The Stop & Go indicator will provideuseful information for this kind ofoperation (while you are moving):

Post-processing of Kinematic-on-the-fly measurements

SKI-Pro will treat the data as socalled "Mixed Tracks". Both staticand moving data is contained in oneand the same chain of measurements:

"5 Sat's since mm:ss" tells theoperator the time elapsed sincetracking started or since the lastcomplete loss of lock. It isrecommended to start occupyingpoints only once this counter exceeds2 minutes. In case of a complete lossof lock (i.e. the number of satellitestracked on both L1 and L2 falls below5, the counter is reset to zero.

In the example above points 1 to 5 arestatic points. Data-processing willcompute and provide a position foreach static point by averaging theresults of each epoch of data whichwas taken during the static occupation.

Taking measurements

As soon as the main Survey panel isaccessed, data logging commencesaccording to the configured loggingparameters. You will see the statusicons changing from moving to staticin case you press F1 OCUPY. Afterfinishing a point occupation bypressing F1 STOP and F1 STOREthe measurement mode will switchback to "moving".

SKI-Pro will process such data andresolve ambiguities "on the fly". It isrecommended to collect about 2minutes of cycle slip free data beforeyou start occupying points. Otherwiseyou take the risk that ambiguitiescannot be resolved and the accuracyof such points will certainly not meetthe specification of 1 - 2 cm + 1 ppm.

45Static and Kinematic Surveys-2.0.0en Kinematic "on the fly"

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Practical hints

Practical hints for Kinematic, Stop & Go and Kinematic on the fly measurements� It is very important to use a period

of time where the satelliteconstellation is strong; a windowwith more than 6 satellites is ideal.

� Distances between reference androver should be kept short. Ideallythis distance does not exceed 3 to5 km

� It is recommended to keep a"track" (consisting of theobservations taken during staticinitialization as well as duringmoving and occupyingsubsequently measured Stop & Gopoints) short. It is suggested toend a track after e.g. a maximumof 20 points and then reinitializeagain. You can force the system todo so by just blocking the GPSantenna by hand for someseconds until the message"Complete loss of lock" appears.

� Include independent checks in yourmeasurements. Either measure apoint twice based on differentinitializations, or include knownpoints into your survey.


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Miscellaneous� System 500 supports two levels of

operation modes. Standard andadvanced. Certain parameters arede-activated in standard mode forsimplicity reasons and thereforecan only be accessed if the sensoris previously configured to"Advanced" mode.

� System 500 supports a compre-hensive coding system. By defaultcoding is deactivated for simplicityreasons. Point related thematicalcoding is possible as well as freesequential coding.

� In Status all measured points of ajob can be viewed.

� It is possible to automaticallyincrement point id's, based onuser- definable templates.

� System 500 is equipped with acalculator function. This can befound under "3 Applications \ 03Calculator".

� The System 500 sensor firmwaresupports a multilanguage concept.English is the master languageand permanently loaded. Severallocal language versions existwhich can be loaded and activatedin parallel. Talk to your local Leicadealer for details.

Miscellaneous

These guidelines cover only a smallsubset of the functionality which isavailable on System 500 sensors.Most of the functionality is used onlyin realtime applications.

This chapter lists additional featureswhich might be of use also for staticor kinematic surveys. Detaileddescriptions can be found in theHardware User Manual.

� System 500 sensors can be usedwithout any terminal at all. Sensorscan be preprogrammed in a waythat only the "On"-button has to bepressed, then everything else isdone automatically, even theswitch-off of the sensor.

� System 500 sensors are equippedwith 3 LED's which provide statusinformation on power, tracking,and memory. The LED's are visiblewhen the terminal is not attachedto the sensor.


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Appendix: Summary of status iconsThe following Status Icons aresupported by the sensor during staticand kinematic measurements.

Position / accuracy status

Navigation (<100m)

When no icon is shown no position isavailable. This usually means that no(or not enough satellites) are tracked.

Other accuracy levels are notsupported unless realtime correctionsare received through a radio.

Position mode

Static - the GPS Antennashould be held stationary.

Moving - The GPS Antennamay move.

Number of visible satellites

The number of theoretically visible number of satellites according to thecurrently used almanac is displayed.

Number of satellites used on L1 and L2

The number of currently tracked satellites are shown.

If a SR510 single frequency sensor is used only the L1 line is active.


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Appendix: Summary of status icons, contd.Memory status

Internal Memory selected

PC-Card selected

Safe to remove PC-Card

Memory level Indicator. Has 12 levels between:

Memory Empty and

Memory Full

Observation recording status

The Receiver is recording raw GPSobservations in Stationary mode. The Receivershould be held stationary.

The Receiver is recording raw GPS observa-tions in Moving mode. The Receiver may move.

Battery status

Battery Voltage OK

Battery supplying 2/3 peak voltage

Battery supplying 1/3 peak voltage

Battery empty

The battery being used is denoted by a letter next to it. Aand B are the plugin camcorder batteries, E indicates aconnected external 12 V battery.

Local time

Local time can be displayed in either an 12 hour formator an 24 hour format. The time appears in the upper rightcorner of the status line.


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VO=0

VR

MRP

VE1 VE2

VO = 0

VR

MRP

VE1 VE2

VO

VR

MRP

VE1 VE2

Appendix: Measuring antenna heights

Appendix: Measuring antenna heights

AT502 Pole

If you are using the antenna on apole select the antenna type AT502Pole (or AT501 Pole) during thebegin of a survey. The Vertical HeightReading (VR) per default is 2m.Normally you do not have to changethis value. The Vertical Offset (VO) is0m and is applied automatically.

AT502 Tripod

If you are using the antenna on atripod together with the height hookselect the antenna type AT502 Tripod(or AT501 Tripod) during the begin ofa survey. Measure and enter theVertical Height Reading (VR). TheVertical Offset (VO) is 0.360m and isapplied automatically.

AT502 Pillar

If you are using the antenna on apillar or a tripod without height hookselect the antenna type AT502 Pillar(or AT501 Pillar) during the begin of asurvey. Measure and enter theVertical Height Reading (VR) fromthe pillar benchmark to theMechanical Reference Plane (MRP).The MRP is the underside of thethreaded metal insert at the bottom ofthe antenna housing.

Leica Geosystems AG, Heerbrugg,Switzerland, has been certified as beingequipped with a quality system whichmeets the International Standards ofQuality Management and QualitySystems (ISO standard 9001) and Envi-ronmental Management Systems (ISOstandard 14001).

Total Quality Management-Our commitment to total customersatisfaction

Ask your local Leica agent for moreinformation about our TQM program

Leica Geosystems AGGeodesy

CH-9435 Heerbrugg(Switzerland)

Phone +41 71 727 31 31Fax +41 71 727 46 73

www.leica-geosystems.com

Printed in Switzerland - Copyright Leica Geosystems AG,Heerbrugg, Switzerland IV.1999Original text

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