GART-2000

- Quick Reference -
05.2003


















Allsat GmbH network+services
Am Hohen Ufer 3A 30159 Hannover Germany
Telefon +49 (0)511 30 399 - 0 Telefax +49 (0)511 30 399 - 66
Internet: http://www.allsat.de
eMail: [email protected]
TABLE OF CONTENTS 2
TABLE OF CONTENTS
TABLE OF CONTENTS........................................................................................................... 2
1 Getting started with GART-2000

CE............................................................................. 3
1.1. Initialisation of GPS Constants ............................................................................ 5
1.2. Input of Reference Coordinates.................................................................................... 7
1.3. Initialisation of the Base Receiver ........................................................................ 8
1.4. Initialisation of the Rover Receiver .................................................................... 10
1.5. Enter Station............................................................................................................... 11
1.6. Input of GPS Measurements .............................................................................. 12
1.7. Receive differential corrections via GSM ........................................................... 14
1.8. Output of Measurements and Coordinates................................................................. 15
1.9. Transformation............................................................................................................ 15

GART-2000

CE - Quick Reference
Chapter 1: Getting started with GART-2000

CE 3
1 Getting started with GART-2000

CE
The aim of this chapter is to enable the user to produce RTK coordinates with a minimum of
9 necessary steps in GART-2000

CE:
1.1 Initialisation of GPS Constants
1.2 Input of Reference Coordinates
1.3 Initialisation of the Base Receiver
1.4 Initialisation of the Rover Receiver
1.5 Enter Station
1.6 Input of GPS Measurements
1.7 Receive differential Correction via cell phone (GSM)
1.8 Output of Measurements and Coordinates
1.9 Local Transformation
For more information see chapter Menu Control.
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Chapter 1: Getting started with GART-2000

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The following figure shows an overview of the GART-2000

CE menu structure:

Figure 1-1: The GART-2000

CE menu structure

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CE 5
1.1. Initialisation of GPS Constants
The GART-2000

CE software initialises GPS receivers using the constants in the Initial >
Constants > GPS menu.
Alternatively, use the button shown above to choose this menu.


Figure 1-2: GPS-Constants
GART-2000

CE supports the following differential correction formats for GPS receivers:

Ashtech CPD (RTK) Ashtech internal corrections for cm-accuracy
Ashtech RTCM (DGPS) General corrections for m-accuracy
Ashtech RTCM 2.1 (RTK) General corrections for cm-accuracy
Trimble CMR (RTK) General corrections for Trimble 4000 series
Topcon RTCM (DGPS) General corrections for m-accuracy
Topcon RTCM 2.1 (RTK) General corrections for cm-accuracy
Topcon RTCM 2.2 (RTK) General corrections for cm-accuracy
Topcon RTCM 2.3 (RTK) General corrections for cm-accuracy
Topcon CMR (RTK) General corrections for cm-accuracy
Topcon CMR+ (RTK) General corrections for cm-accuracy
Topcon JPS (RTK) Topcon internal corrections for cm-accuracy
Sokkia RTCA Sokkia internal corrections for cm-accuracy
SokkiaRTCM (DGPS) General corrections for m-accuracy
Sokkia RTCM 2.2 (VRS) General corrections for cm-accuracy
Sokkia CMR (RTK) General corrections for cm-accuracy
Thales RTCM (DGPS) General corrections for m-accuracy
Thales RTCM 2.2 (RTK) General corrections for cm-accuracy
Thales LRK (Long
Range) RTK
Thales internal corrections for cm-accuracy
Leica RTCM (DGPS) General corrections for m-accuracy
Leica RTCM 2.1 (RTK) General corrections for cm-accuracy
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Leica RTCM 2.2 (RTK) General corrections for cm-accuracy
Leica CMR (RTK) General corrections for cm-accuracy
Leica CMR+ (RTK) General corrections for cm-accuracy
Leica RTK Leica internal corrections for cm-accuracy
Standard NMEA General format for use of other receiver types (e.g. for GIS-
applications)
The transformation parameters can be selected from several preset entries (for instance
DHDN, STN 42/83, WGS84,...) and various modifiable entries (e.g. User081).


Figure 1-3: Select 7-Parameter-Transformation
After pressing the <Edit> button, the 7 transformation parameters for the modifiable entries
can be edited.


Figure 1-4: Edit 7-Parameter-Transformation
The entries have the following meanings
Name Name of the set of transformation parameters (user-definable).
Ellipsoid Ellipsoid of the user system.
DX, dY, dZ Translations for X-, Y- and Z-axis.
WX, wY, wZ Rotation with respect to X-, Y- and Z-axis.
Scale Scale factor in ppm
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1.2. Input of Reference Coordinates
The reference coordinates can be entered manually into GART-2000

CE or can be
imported from a file. For the manual input of coordinates use the Input > Coordinates
submenu.


Figure 1-5: Input coordinates
The coordinates can be entered either in plane or, using the button <Geo.>, geographical
(WGS84) mode. A conversion between user-coordinates and geographical mode is done
automatically when switching between the modes. The current user coordinate system is
used for the conversion; this system is set under Initial > Constants > GPS.


Figure 1-6: Input geographical WGS84 coordinates

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1.3. Initialisation of the Base Receiver
The initialisation of the Base station is done with the GPS > Start Base submenu or the
button shown above.


Figure 1-7: Initialisation of the Base Receiver (here: Topcon)
In this menu you can enter the name of the reference station, the plane coordinates of the
reference point, the antenna height, the elevation mask and the radio-port.
Furthermore for Topcon-receivers the maximal number of used satellites can be chosen and
the Multipath-Reduction can be activated. Therefore the Base- and the Rover-receiver
need to have the necessary option. The multipath settings should be the same for base and
rover receiver. To send out Base corrections over multiple radio ports the <Port> check box
needs to be activated.
The button <Nav.Sol.> reads a position from the navigation solution of the receiver if the
receiver tracks four or more satellites. The button <Satellites> shows the available satellites
if GART-2000

CE is able to establish a connection to the GPS receiver. After having done

all settings the button <OK> initialises the Base receiver and saves the reference
coordinates.
The button >> next to the field Ant.Height opens the submenu for the Antenna Height.
Choose the manufactory and the antenna type: Ashtech, Leica, Sokkia, Thales, Topcon and
Trimble. For each antenna type the individual antenna offsets are shown.


Figure 1-8: Antenna height
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Enter the type of antenna height measurement:
instrument height: measured from the marker to the bottom of the antenna at the base of
the mounting threads,
slope: measured from the marker to the lower edge of the groove around the antenna at
the seam between the top and bottom halves of the antenna casing.
In the field Measured enter your slope or vertical antenna height. The true vertical height will
be calculated immediately and will be shown in the field Calc (TV). After terminating this
window with the <OK> button, the true vertical height will be set as antenna height in the
measurement window. The button <Save> is only needed to store additional antenna types.
By activating the checkbox <Correct L1/L2 PCV>, the offsets between L1 and L2 of the
antenna phase center (North, East, Height) are sent to the reference station for the
respective antenna type.
The true vertical antenna height in GART-2000

CE accounts for different antenna offsets

in case different antenna types are used on base and rover. In addition to the predefined
antenna types in the list; you may enter your own antenna types. To do so enter a new name
for your antenna and edit the values in the offset fields. The button <Save> stores the new
entry.
If you have selected the correction data format "Standard NMEA", the function GPS > Start
Base is deactivated.

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1.4. Initialisation of the Rover Receiver
The initialisation of the Rover receiver is done with the GPS > Start Rover submenu or with
the button shown above.


Figure 1-9: Initialisation of the Rover Receiver (here: Topcon)
Enter the input-port for the differential corrections (using radio or cell phone (GSM) modem),
minimum elevation and maximum PDOP.
In addition for Topcon receivers enter the RTK mode (extrapolation or delay), antenna type
(internal, external or automatic), the sat-system (GPS or GPS&GLONASS), the Update Rate
(1 Hz and 2 Hz) and optionally activate the multipath reduction. The RTK-mode can be set
to 'extrapolation or 'delay. Extrapolation decreases the latency of the position and can
extrapolate through short radio outages. 'Delay is more accurate and is the normal mode for
RTK surveying of fixed points.
For Topcon and Ashtech receivers a fixing parameter can be entered. The fixing parameter
defines the confidence interval for the ambiguity fixing:

confidence interval fixing parameter
Ashtech
fixing parameter
Topcon
no ambiguity fixing float float
90 % very low --
95 % low low
99 % medium medium (default)
99,9 % high (default) high
99,99 % very high --
A confidence interval of 99.9% means that statistically one out of thousand ambiguity fixings
is wrong.
Use the <OK>-button to initialise the Rover receiver.

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1.5. Enter Station
After a successful Base-initialisation a new station should be entered in the submenu Input >
Station in GART-2000

CE. A list of all stations is displayed.

Figure 1-10: Enter Station
Enter a new name in the field Station Number or double-click to choose an existing station.
We recommend to create a new station every time the Base receiver is setup on a new point.
To enter a new GPS station activate the checkbox <GPS>.
If a new station is chosen, GART-2000

CE opens a dialog to query information about the

station like instrument height, location, observer and the weather conditions. Press the button
<OK> to save the data.


Figure 1-11: Enter Station Data
The current selected station is highlighted in the Output > Stations dialog.

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1.6. Input of GPS Measurements
The Input > Measurements submenu includes the main screen for GPS surveying where
the calculated coordinates and the status of the Rover receiver are shown. Alternatively, start
the submenu with the quickstart button shown above.


Figure 1-12: GPS-Measurements
The submenu shows the coordinates with their standard deviations (plane coordinates),
number of GPS and GLONASS satellites, PDOP, antenna height I.H., radio link quality, the
distance to the Base receiver D, the ambiguity fixing status and the Rover dynamics.
The calculation of the ambiguities in the GPS receiver is influenced by the chosen dynamics.
The dynamics describe the movement of the GPS antenna.
With the button >> the dynamics can be chosen from a list. Possible settings for Topcon are
"static" and "walking". For Ashtech-receivers there are "quasistatic", "walking",
"automobile" ,aircraft and "ship" additions.
The button <Sat> shows detailed information about GPS/GLONASS satellites.
When the <Info> button is pressed, a row of buttons appears for Ashtech and Topcon
receivers that enables further information to be queried from the GPS receiver. (See Figure
3-13)
The <Ant.H> button opens the menu to enter the antenna height, which has already been
explained in relation to the initialization of the reference station. Changing the antenna height
has a direct effect on the representation of the coordinates.
With the <Reset>-key a reset of the RTK engine is done. The fixing of the ambiguities is
restarted.
To save the actual coordinates press the <Save>- or the <OK>-button.
The <Geo> button converts the measurement values into geographical coordinates.
By means of the <Exc> button points can be measured with the aid of a connected
tachymeter or MDL that are not directly accessible with the rover.

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Figure 1-13: Info (for Topcon-receiver)
Supported functions:
<DRef> This function reads the coordinates of the Base receiver from the RTCM
messages and saves it. These coordinates are used to calculate the
distance from the Rover to the Base receiver.
If vector data recording has been set, the distance display is updated
automatically.
<Radio> The status of the received correction data is displayed.
<Stat> Statistic for the position calculation (Topcon only)
<Extra> Possibility to change the elevation mask and the environment type (forest
or open plain) (Topcon only)
In the field Elevation a degree figure can be entered to specify the
minimum elevation of the satellites used to calculate position.
The checkbox <Co-Op Tracking> enables the control of Co-Op tracking.
Ext. Power displays the present input voltage of the receiver. Power A and
Power B indicate the voltage of the internal rechargeable batteries A and
B (only relevant to Hiper and Odyssey-E from Topcon). Power Board
provides information on the voltage that exists on the board.
<VRS/FKP > Settings for virtual base station or area correction parameter.
Diese Einstellung ist z.Zt. nur fr Topcon-Empfnger verfgbar
<Vektor> Absolute coordinates of base and rover in cartesian coordinates.
If the checkbox <Vectordata Recording> is activated the correlations of
the coordinates will be saved. (Topcon only)
<OnTrans> Status display for the online transformation
<Power> Indication of the battery capacity. The voltage and the capacity as well as
the maximum and remaining battery time are shown. (Ashtech Z-Surveyor
only)
<Contrast> Indication of the Contrast Ratio Value.
The contrast value declares how reliable the fixing of the ambiguities is.
Ashtech: Range from 0.00 up to 999.0. A value higher than 1.0 indicates
that the ambiguities are fixed. (Ashtech only)

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CE 14
1.7. Receive differential corrections via GSM
To initialise the cell phone (GSM) choose the GPS > Telephone submenu or press the
quickdial button shown above.


Figure 1-14: Telephone directory
Choose an existing number out of the list or enter a new one by pressing the button <Edit>
in an empty row. Up to 20 numbers can be saved.


Figure 1-15: Edit Telephone Number
By pressing the button <Initial> configure the telephone initialisation strings (PIN, etc.). The
field Signalquality shows the quality of the GSM network.
Mark the checkbox <Send NMEA> if you use a reference network service. When using your
own local reference station leave this checkbox unchecked.
After selecting the appropriate telephone number, press the <Dial> button to establish the
GSM link to the reference station. The number chosen should appear in the display. As soon
as the status window "Connected" is displayed, quit the telephone menu with <OK>.
To stop the telephone connection press the quickhangup button or the button
<Hangup>.
The quickdial button dials the last selected telephone number and closes the window
cell phone (GSM)-Telephone automatically if a connection is build up.
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1.8. Output of Measurements and Coordinates
The stations, measurements and coordinates saved in GART-2000

CE can be
edited/viewed with the menu Output.
The coordinate output is shown underneath:

Figure 1-16: Output of Coordinates
To search for a specific point use the button <Search> and enter the point number or click
on the point in the graphic screen.
By means of the <Ident. Pt.> button you can display all the points with a freely definable
distance to one another.
Click on a row in the list and press the button <Edit> to edit the point.

1.9. Transformation
To calculate a local transformation choose the Input > Coordinates submenu and enter the
coordinates and point numbers of the control points.
When measuring the control points in the Input > Measurements submenu, make sure to
use the same point numbers as entered before. Once you have measured your identical
points, it is possible to calculate a transformation. Choose the Calculate > Polar/GPS-
Transformation submenu.


Figure 1-17: Polar/GPS-Transformation
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First choose the kind of transformations with the Transf > Change button. To perform a
standard local adjustment use a 3-Parameter-Transformation without residual estimation.


Figure 1-18: Kind of Transformation with Total Station


Figure 1-19: Kind of Transformation with GPS-Station

Subsequently, the control points can be selected using the <Ctrl Pnt> button.

Figure 1-20: Control Points
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Only those points are shown here whose measurement values have already been
designated as control points. To this end, the respective measurement value is edited in the
window Output > Measurements and the checkbox <CP> is activated.


Figure 1-21: Edit Measurements
The transformation laid down via the control points has a direct effect on the calculation of
the user coordinates and is saved in relation to the station. That means that the coordinates
for all the measurement values saved under a specific station are calculated using the 7-
parameter transformation chosen in Inital > Constants > GPS, the projection and the local
transformation chosen here. After the control points have been entered, the transformation
calculation for all points of a station is carried out via the <Calculate> button. All new
subsequently measured points are automatically transformed. Any deviations from the
nominal coordinates are also displayed.
With the exception of the control points, the transformation accesses the measurement
values and not the coordinates in the user coordinate system. For this reason it is important
to delete both the coordinates and the measurement values for any incorrectly saved points
prior to the transformation!
For a new station the old transformation cannot be applied. Optionally, a new transformation
can be defined.
GART-2000

CE - Quick Reference