S100 RTK RECEIVER

USER GUIDE
Version 1.14
September 3, 2020

[email protected]
https://www.polaris-gnss.com

1
Table of Contents

Table of Contents .................................................................................................... 2

1 Overview ............................................................................................................. 4

1-1 Introduction ..................................................................................................... 4

1-2 RTK Operation Guidelines ................................................................................ 4

1-3 S100 RTK Receiver Features............................................................................. 5

2 Applications ......................................................................................................... 6
3 Description of Interfaces ...................................................................................... 7
4 Application Scenario ............................................................................................ 8
5 Preparing for First-Time Use ................................................................................. 9
5-1 Install USB Driver ............................................................................................. 9
5-2 Install App “Polaris Connect” ........................................................................... 9
5-2 Check S100 Receives Satellite Signal ............................................................... 9
6 RTK Operation .....................................................................................................13
6-1 Introduction ................................................................................................... 14
6-2 Configuring Rover .......................................................................................... 16
6-2-1 Bluetooth Rover to Work with App-Built-in NTRIP Client .................. 16
6-2-2 Bluetooth Rover to Work with Third-party NTRIP Client App ............ 18
6-2-3 USB Rover ........................................................................................... 20
6-2-4 Third-party NTRIP Client App Operations ........................................... 22
6-3 Configuring Base ............................................................................................ 28
6-3-1 Bluetooth Base with App-Built-in NTRIP Server ................................. 28
6-3-2 USB Base ............................................................................................. 30
6-4 Setting NTRIP Caster ...................................................................................... 32
7 Raw Measurement Recording and Post Processing .............................................34

7-1 Preparing for PPK ........................................................................................... 34

7-2 Preparing for PPP ........................................................................................... 36

7-3 Obtaining Log Data from S100 ....................................................................... 37

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8 Software and Firmware Update ..........................................................................42
8-1 S100 Viewer Software Update ....................................................................... 42
8-2 S100 RTK Receiver Firmware Update ............................................................ 43
8-3 S100 Bluetooth Module Firmware Update .................................................... 46
9 Problem Reporting ..............................................................................................48
10 FAQ ...................................................................................................................50
Appendix ...............................................................................................................53
A-1 More Usage Scenarios ................................................................................... 53
A-1-2 Base-Rover RTK with PPP-Corrected Base ......................................... 55
A-1-2 PPK with PPP-Corrected Base............................................................. 57

3
1 Overview

1-1 Introduction

S100 is a high performance dual-frequency RTK receiver with Bluetooth and USB interface. It offers
centimeter-level positioning accuracy suitable for survey, mapping, and GIS data collection.

By default, S100 is shipped as RTK rover to accept RTCM3.x message or SkyTraq carrier phase raw
measurement data from a RTK base, and provide centimeter-level accurate position result relative to
the RTK base in standard NMEA message format. S100 can also be configured as a RTK base to provide
RTCM3.x message or SkyTraq carrier phase raw measurement data output.

S100 has two major interfaces for different applications. The USB interface is mainly used for
configuration, monitoring, and supplying power. With Bluetooth V2.1+EDR funcction built-in, S100 can
be used as external Bluetooth RTK receiver for Android Mobile Device to provide higher accuracy
positioning than internal GPS.

1-2 RTK Operation Guidelines

To provide centimeter-level RTK accuracy, S100 requires much better operating condition than
conventional meter-level accuracy GPS receiver:
 Baseline distance between base and rover should be under 30Km.
 Open sky environment without interference and signal blockage
 Received signal level should be no less than 40dB/Hz.
 10 or more satellites with elevation angles over 15 degrees
 Good satellite geometry with satellites spread over four quadrants of the sky.

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1-3 S100 RTK Receiver Features

 Base or Rover Mode Configurable Using Polaris Connect App

 Supports GPS L1/L2C, Beidou B1I/B2I, Galileo E1/E5b, GLONASS L1/L2 RTK Operation
 Supports USB and Bluetooth V2.1+EDR Interface
 On-Board 256MByte for Data Logging Post Processing
 RTK Position Accuracy 7mm + 1ppm
 Maximum RTK Update Rate 10Hz
 Supports RTCM 3.x Messages
 NMEA Output
 Update Rates：1 / 2 / 4 / 5 / 8 / 10 Hz for RMC / GGA / VTG / PSTI-030
 Messages：GGA / GLL / GSA / GSV / RMC / VTG / ZDA / PSTI
 Baud Rate
 Bluetooth：115200
 USB：4800 / 9600 / 19200 / 38400 / 57600 / 115200, default 115200
 Current Consumption
 280 mA @ 5V
 Weight：460 g

5
2 Applications

Figure 2-1

S100 RTK rover works with carrier phase measurement, using fractional part of ~19 centimeter wave
length GNSS signals and differential principles to achieve centimeter-level accuracy positioning with
respect to the RTK base.

Referring to figure 2-1, S100 receives RTK base correction data over Internet via NTRIP Client running
on an Android phone. S100 uses this correction data along with signals received from satellites to
calculate its precise position and output position / velocity / time information in NMEA-0183 format.

6
3 Description of Interfaces

a b

c d
Figure 3-1
Connect S100’s 4-hole socket (Figure 3-1 a) with the included accessory cable (Figure 3-1 b). The
S100 USB cable interface is used for
1. Power supply (Figure 3-1 d)
2. Firmware update (Figure 3-1 c)

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4 Application Scenario

Figure 4-1
The most common and convenient way to use S100 to do real-time survey is to adopt a 3rd party
CORS/VRS service as RTK correction data provider.
When used with Trimble or Leica RTK base station within 30Km distance (Continuously Operating
Reference Stations or CORS cases), or Trimble or Leica RTK base stations with Virtual Reference Station
(VRS) service as shown in Figure 4-1 for RTK survey and data collection, then only one S100 RTK
receiver is needed.
S100 is configured as RTK rover and connects to an Android smartphone via Bluetooth. User can then
run the free “Polaris Connect” app, or “Lefebure NTRIP Client” app on the smartphone for retrieving
3rd-party RTK base station data over Internet and sending it to the S100 RTK receiver. With “MOCK
Location” option enabled on the smartphone, GPS related location Apps on the smartphone will be
able to use the more accurate position from S100 RTK receiver.
Other possible usage scenarios can be found in Appendix A-1.

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5 Preparing for First-Time Use

A video showing the processes of setting up S100 to perform RTK rover from very
beginning can be found here
https://www.youtube.com/watch?v=6FXFHmiqboE

5-1 Install USB Driver

USB driver needs to be installed before updating S100 Receiver firmware.
Download it from:
https://www.silabs.com/products/development-tools/software/usb-to-uart-bridg
e-vcp-drivers

5-2 Install App “Polaris Connect”

Install Android app “Polaris Connect for S100 RTK Receiver” app from Google Play.
You can find it with this QR Code.

5-2 Check S100 Receives Satellite Signal

Below steps bring up S100 as a normal USB-interfaced GNSS receiver to receive satellite signal:
1. Place S100 at a position having good sky view. Connect S100 with PC using the included USB
cable.
2. Pair phone with the S100, which has a Bluetooth device name starting with “S100”. See Figure
5-1.

9
 Figure 5-1
3. Launch Android app “Polaris Connect”, and selected the paired S100 device. See Figure 5-2.

Figure 5-2

4. Start RTK Rover via USB interface. The app closes when you start S100 as a USB Rover. See
Figure 5-3.

10
Figure 5-3

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5. On your PC, install and open S100 Viewer. In S100 Viewer, a dialog box for COM port and baud
rate will appear. Click “Connect”. See Figure 5-4.

Figure 5-4

6. NMEA output should be seen on the Message screen. If having good sky view with sufficient
number of satellites tracked, the signal bar will turn solid and have position fix. See Figure 5-5.

Figure 5-5

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6 RTK Operation

Real-time (or low-latency) delivery of correction data from a RTK receiver (called base) to another RTK
receiver (called rover) is critical to a RTK system, which is targeting to obtain high accuracy in positioning.
NTRIP is an internet solution to deliver RTK correction data from RTK Base to RTK Rover, which is
composed of the three services (1)NTRIP Server (2)NTRIP Caster (3)NTRIP Client. The tree services run
on three internet-enabled machines which are apart from one another in most cases. The general
structure of NTRIP can be illustrated in Figure 6-0.

Figure 6-0
User can decide to
1. Use S100 as a rover (section 6-2) or base (section 6-2)
2. Use App-built-in NTRIP Client on phone (section 6-2-1) or third party NTRIP Client on phone
(section 6-2-2) or RTKLib on PC(section 6-2-3), if S100 is used as rover
3. Use App-built-in NTRIP Server on phone (section 6-3-1) or RTKLib on PC(section 6-3-2), if S100 is
used as base.
A discussion of NTRIP Caster can be found in section 6-4.

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6-1 Introduction

Figure 6-1
For RTK use, S100 can be configured to be a Rover or Base, over Bluetooth or USB interface.
Figure 6-1 shows the possible combinations and the corresponding entry points.
For RTK rover application, the S100 RTK receiver can be used with RTK base station service providers
having Virtual Reference Station (VRS) service, or a physical RTK base station within 30Km distance. The
S100 RTK rover connects via Bluetooth to Android phone running NTRIP Client that in turn connects with

14
RTK base station over Internet. S100 can work with popular Trimble or Leica base stations, or locally set
up RTK base station using another S100 or Alpha+ RTK receiver.

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6-2 Configuring Rover
The S100 can be configured to be a rover over Bluetooth or USB interface.
For rover over Bluetooth, user can choose to use app’s built-in NTRIP client feature (sections 6-2-1) or
third-party NTRIP client like Lefebure (sections 6-2-2).
User can use S100 as a USB rover (sections 6-2-3) and make it work with a third-party tool on PC, for
example RTKLib.
The S100 is shipped in default rover mode. This section can be skipped if not changing S100 from base
mode back to rover mode.

6-2-1 Bluetooth Rover to Work with App-Built-in NTRIP Client

The S100 RTK Receiver, configured as a Bluetooth-interfaced RTK Rover, can receive RTK correction data
from the NTRIP client service built in the app “Polaris Connect”, as shown in Figure 6-2.

Figure 6-2

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Follow the steps to configure S100 to receive NTRIP data via Bluetooth interface with built-in NTRIP
client.
1. Click Rover tab, select Bluetooth interface. See Figure 6-3 a
2. Click Settings (Figure 6-3 b) and configure NTRIP log-in information (Figure 6-3 c).
3. Click Start of “BT RTK Rover & NTRIP Client” and NTRIP client starts. See Figure 6-4 a b.

a b c
Figure 6-3

a b
Figure 6-4

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6-2-2 Bluetooth Rover to Work with Third-party NTRIP Client App

The S100 RTK Receiver, configured as a Bluetooth-interfaced RTK Rover, can receive RTK correction data
from a third-party NTRIP client service, e.g. Lefebure, as shown in Figure 6-5.

Figure 6-5
Follow the steps to configure S100 to receive NTRIP data from a third-party app like Lefebure, via
Bluetooth interface. The app closes on the S100 starts to work as Bluetooth RTK rover.
1. Click Rover tab, select Bluetooth interface. See Figure 6-6 a
2. Click Start of “BT RTK Rover”; the app “Polaris Connect” will be closed. See Figure 6-6 b
3. Start third-party app to receive RTK data, feed it to S100, and get positioning stream from S100. See
Figure 6-6c.
4. If you need more information about using Lefebure app, read section 6-2-4.

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a b

c
Figure 6-6

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6-2-3 USB Rover

The S100 RTK Receiver, configured as a USB-interfaced RTK Rover, can receive RTK correction data from a
connected PC’s software, e.g. RTKLib, as shown in Figure 6-7.

Figure 6-7
Follow the steps to configure S100 to receive NTRIP data via USB interface. The app closes on the S100
starts to work as USB RTK rover.
1. Make sure S100 is connecting with PC with USB cable.
2. Click Rover tab, select USB interface. See Figure 6-5 a
3. Click Start of “USB RTK Rover”; the app “Polaris Connect” will be closed. See Figure 6-5 b
4. Start third-party tool, e.g. RTKLib, to receive RTK data, feed it to S100, and get positioning stream
from S100. See Figure 6-5 c.

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a b

c
Figure 6-5

21
6-2-4 Third-party NTRIP Client App Operations

Skip this section if you do not need to use “Lefebure NTRIP Client” app as third-party NTRIP client.
Follow the steps to use Lefebure NTRIP Client app to feed S100 with RTK correction data.
1. Install Lefebure NTRIP Client from Google Play Store, open it.

Figure 6-6
2. Select the gear setup icon on the upper right corner. Select “Receiver Settings”.

Figure 6-7

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3. For “Receiver Connection” select “External via Bluetooth”. For “Bluetooth Device” select the “BT
SPP xxxxxx” device. Check “GPS Mock Locations”.

Figure 6-8
4. Select “NTRIP Settings”. Network Protocol select “NTRIP v1.0”. Enter base station and account
information for Caster IP / Caster Port / Username / Password / Data Stream. Report Location
select “Get From External Receiver”.

Figure 6-9

23
5. Enable phone’s Mobile Data connection. Select the gear icon on upper right to enter phone
Settings configuration page.

Figure 6-10
6. Select “Developer Options” near the bottom of Settings page. Sliding down Developer Options
page, select “Mock Location App”.

Figure 6-11

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7. Select “Lefebure NTRIP Client”.

Figure 6-12
8. Return to Lefebure NTRIP Client App, click “Connect” to connect with S100 RTK receiver via
Bluetooth and RTK base station via Internet.

Figure 6-13

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9. After connection is made, upper left screen will first show Invalid, denoting receiver does not have
position fix yet. Next it’ll show GPS or DGPS and number of satellites used, denoting receiver has
meter-level accuracy position fix. Then it’ll show FloatRTK for some time, denoting the receiver is
trying to converge to centimeter-level accuracy position. When the receiver has centimeter-level
accuracy position it’ll show steady RTK status. Afterwards third party Data Collector Apps can next
be used to record the position.

Figure 6-14

26
10. When surveying a group of locations within walking distance, can leave S100 powered up, taking
the range pole or tripod to next location to survey. Switch to the Lefebure NTRIP Client App to
check if S100 is in RTK Fix state before recording the next location position with Data Collector App.
The setup procedure only needs to be performed once. Later use only need to run Lefebure NTRIP
Client and connect.

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6-3 Configuring Base
The S100 can be configured to be an RTK base sending RTK correction data over Bluetooth or USB
interface.
Configured as an RTK base over Bluetooth, S100 can send out RTK correction data, using the app’s built-in
NTRIP server (sections 6-3-1).
User can also use S100 as a USB-interfaced RTK base (sections 6-3-2) and make it work with a third-party
tool on PC, for example RTKLib.

6-3-1 Bluetooth Base with App-Built-in NTRIP Server

The S100 RTK Receiver, configured as a Bluetooth-interfaced RTK base, can send out RTK correction data
with the NTRIP server built in the app “Polaris Connect”, as shown in Figure 6-15.

Figure 6-15
Follow the steps to configure S100 to send out RTK correction data via Bluetooth interface with built-in
NTRIP server.
1. Click Base tab, select Bluetooth interface. See Figure 6-16 a
2. Click Settings (Figure 6-16 b) and configure NTRIP log-in information (Figure 6-16 c).
3. Click Start of “BT RTK Base & NTRIP Server”. See Figure 6-17 a.
4. The NTRIP server starts. See Figure 6-17 b.

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a b c
Figure 6-16

a b
Figure 6-17

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6-3-2 USB Base

The S100 RTK Receiver, configured as a USB-interfaced RTK Bse, can send out RTK correction data to a
connected PC’s software, e.g. RTKLib, as shown in Figure 6-18.

Figure 6-18
Follow the steps to configure S100 to send out RTK correction data via USB interface. The app closes on
the S100 starts to work as USB RTK base.
1. Make sure S100 is connecting with PC with USB cable.
2. Click Base tab, select USB interface. See Figure 6-19 a
3. Click Start of “USB RTK Base”; the app “Polaris Connect” will be closed. See Figure 6-19 b.
4. Start third-party NTRIP server tool, e.g. RTKLib, to send out RTK correction data. See Figure 6-5 c.

30
a b

c
Figure 6-19

31
6-4 Setting NTRIP Caster
NTRIP scheme requires a NTRIP Caster running on a internet-enabled machine with a fixed IP address so
that both NTRIP Server and NTRIP Client can connect with it, and thus it makes correction data delivery
from NTRIP Server to NTRIP Client possible.
Two ways to set up a NTRIP Caster.
1. The easist way to set up a 24-7 running NTRIP Caster is subscribing to
SIX MONTH FLOATING IP RTK BASE REDIRECT SERVICE.
A subscriber will get NTRIP Caster login information: IP/port/mount point/user name/password, and
just use it in “Polaris Connect” or “Lefebure” app.
2. Get a PC with Fixed IP address, and run RTKLib tool on it.
Follow the steps to set up a NTRIP Caster by your own.
a. Get RTKLib binary from
https://github.com/tomojitakasu/RTKLIB_bin/tree/rtklib_2.4.3
b. Run strsvr.exe
c. Configure Input Stream to be Type NTRIP Caster, and set up its options (by clicking Opt ).

d. Set input stream Port to be an available port number on this PC, say 9001. Set Password to be
you preferred NTRIP upload password. Then click OK.

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e. Continue to configure Output Stream.

f. Set output stream Port to be an available port number on this PC, say 9000. (need to be
different from input stream port) Set Mountpoint/User-ID/Password to be you preferred
NTRIP download login information. Then click OK.

g. Click Start

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7 Raw Measurement Recording and Post Processing

Raw measurement data logged on S100 RTK receiver is used in PPK and PPP. Read sections 7.1 and 7.2
to get idea of files required for the two types of post processing. In section 7-3 the processes to obtain
raw measurement data from S100 are described.

7-1 Preparing for PPK

For Post-Processed Kinematic (PPK) calculations, both base data and rover data need to be available.
The base data can be (1) stored RTCM data received from RTK base station service or (2) stored RTCM
data from S100 RTK base; the RTK rover data is the stored RTCM data from S100 RTK rover.
Please read section 7.3 to know how to log and obtain RTCM data on S100 receiver.
To perform PPK, the files of the common format RINEX are necessary. The logged RTCM data can be
converted to RINEX formats (2.01 – 3.03) using v.2.4.3 RTKLIB’s RTKCONV program. See Figure 7-1 a, b.
The reference Options window of RTKCONV is shown in Figure 7-1 c.

a b

c
Figure 7-1
34
Converting the RTCM file with rtkconv.exe, user can get a RINEX file with extension “obs” and a RINEX file
with extension “nav”. The three files (two OBS files and either one of the two NAV files) are used in
RTKLib PPK tool “rtkpost.exe”. See Figure 7-2.

Figure 7-2

35
7-2 Preparing for PPP
For some Precise Point Positioning (PPP) service, RINEX 2.11 format data is required; a small modification
on RINEX file may also need to be made. Follow the steps to prepare RINEX file for sending to PPP
service.
1. Log and obtain RTCM data (read section 7.3)
2. Use v.2.4.3 RTKLib’s RTKCONV program to convert the logged RTCM data to RINEX 2.11. Select
proper constellations and frequency bands your PPP service requires. You will then get a RINEX
format file *.obs. See Figure 7-3 a.
3. Edit the output *.obs file, and modify the string “C2” to “P2” on about 13th line. See Figure 7-3 b.

P2

b
Figure 7-3

36
7-3 Obtaining Log Data from S100
The processes to obtain stored log data from S100 to mobile phone’s memory are described below.
To store log data of base and rover, follow the steps.
1. In rover or base tab, click the black REC button to start S100 to record raw measurement data in its
flash memory. See Figure 7-4 a, b.
2. When S100 start to record raw measurement data, the REC button becomes red and flicks. See
Figure 7-4 c.
3. Click red REC button again to stop recording.

a b c
Figure 7-4

37
To check the log data in S100’s flash memory, follow the steps.
1. Click Utility and Browse. See Figure 7-5 a.
2. The information of recorded measurement data, including the start time, base or rover and file size,
is then displayed. See Figure 7-5 b.

a b
Figure 7-5

38
To download the log data to phone, follow the steps.
1. Select the log data you want to download by clicking its date field. The selected files are then marked.
See Figure 7-6 a.
2. Click “Download Selected Logs”. See Figure 7-6 b.
3. A pop-up window shows you how to connect to S100 via WiFi connection. Read and click Next.
See Figure 7-6 c.
4. You are brought to system’s WiFi configuration screen. Select the WiFi AP whose name starts with
“S100” and make sure the phone is connected with it (no internet capability during log file transfer).
See Figure 7-6 d.
5. Click Back button. See Figure 7-6 e.
6. The file transfer starts, and you will be prompted when it finishes. See Figure 7-6 f.

a b c

d e f
Figure 7-6

39
To check the downloaded log data on mobile phone’s memory, follow the steps.
1. Click “Browse Downloaded Logs”. See Figure 7-7 a.
2. The downloaded raw measurement base data is then displayed. See Figure 7-7 b.
3. Click “Rover Logs” to check rover raw measurement data. See Figure 7-7 c.

a b c
Figure 7-7

To access the raw measurement data from PC, follow the steps.
1. Connect the phone with PC, then select the folder “PolarisGNSS” in the popped-out File Explorer. See
Figure 7-8
2. You can then copy/move/delete the measurement data.

Figure 7-8

40
To erase all the recorded raw measurement data on S100, follow the steps.
1. Select the measurement data you want to download by clicking its date field. The selected files are
marked. See Figure 7-9.
2. No recorded data is found in S100.

Figure 7-9

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8 Software and Firmware Update

S100 Viewer is a PC software for S100 RTK Receiver firmware update. You can download it form
http://www.polaris-gnss.com/s100/s100-viewer.zip
Occasionally, for user experience improvements, there are updates for
1. software S100 Viewer
2. firmware of S100 RTK receiver
3. firmware of S100 Bluetooth module
User can manually check and update them using Polaris Connect app and S100 Viewer on computer
with Internet connection.

8-1 S100 Viewer Software Update

Select “Check S100 Viewer Update” from the Viewer pull-down menu and follow the instruction to
update S100 viewer if a update is released.

Figure 8-1

42
8-2 S100 RTK Receiver Firmware Update
Videos showing processes of updating S100 RTK Receiver firmware can be found here:
https://www.youtube.com/watch?v=WrAUKF84KZU(1/2)
https://www.youtube.com/watch?v=A3NPLYP_EKA(2/2)

Follow the steps to update S100 firmware.

1. USB driver needs to be installed for updating S100 Receiver firmware.
Download it from:
https://www.silabs.com/products/development-tools/software/usb-to-uart-br
idge-vcp-drivers
2. Connect S100 with PC and start S100 Viewer software on PC. See Figure 8-2.

Figure 8-2
3. On Polaris Connect app, click Connect button on Utility-Version screen, this enables S100 RTK
Receiver’s firmware to be updated. The app will then be closed. See Figure 8-3.

Figure 8-3

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4. From S100 Viewer “Updates” pull-down menu, select “Check Firmware Update”, then a message
box showing “checking for updates” will pop up. See Figure 8-4.

Figure 8-4
5. In case new update software is found, a dialog box will appear. Press “Download and Update” to
update, or “No” to cancel update. See Figure 8-5.

Figure 8-5

44
6. S100 Viewer will download the new software from Polaris’ server and load it to S100, with the
message box indicating software update status shown in Figure 8-6.

Figure 8-6
7. When software update is in progress, DO NOT remove the USB cable, or press S100 push button,
or change position of the slide switch until seeing software update is completed. See Figure 8-7.

Figure 8-7

45
8-3 S100 Bluetooth Module Firmware Update
Bluetooth firmware is upgraded via WiFi connection. Follow the steps to update S100’s Bluetooth
module firmware.
1. If a new version of Bluetooth firmware is available, the Upgrade button on Polaris Connect app’s
screen Utility-Version-Bluetooth Version becomes clickable (Figure 8-8 a), otherwise it is
unclickable (Figure 8-8 b).
2. Clicking Upgrade button leads to Bluetooth firmware download page. Once the Bluetooth
firmware is downloaded from server, a Next button shows. Click it to continue to do WiFi
connection. See Figure 8-8 c.

a b c
Figure 8-8

46
3. A pop-up window shows you how to connect to S100 via WiFi connection. Read and click Next.
See Figure 8-9 a.
4. You are brought to system’s WiFi configuration screen. Select the WiFi AP whose name starts
with S100 and make sure the phone is connected with it (without internet). Click Back button.
See Figure 8-9 b c.
5. The Bluetooth firmware upgrade starts, and you will be prompted when it is in process and
finishes. See Figure 8-9 d e.

a b c

d e
Figure 8-9

47
9 Problem Reporting

In the rare case that connection is made to 3rd party RTK base, but unable to get RTK Fix, only getting
RTK Float, follow the procedure steps shown in this video https://youtu.be/v3G3jGASJN8 to
simultaneously log 15 minutes of (1) RTK base RTCM data and (2) S100 raw measurement data for us
to analyze the issue. Upload the two log files to your Google Drive folder and send us a shareable link
to [email protected] By default the log files are stored in the NTRIP directory of your phone.
The steps are
1. Enable S100 to send out raw data by switching on Utility->Raw data for debug. See Figure 8-10 a.
2. Make sure data format SkyTraq is selected. See Figure 8-10 b.
3. Press Start of Base->Base Data Recording. The app will close afterwards. See Figure 8-10 c.

a b c
Figure 8-10

48
4. In Lefebure app, enable “Save GPS Data” and “Save NTRIP Data” in “Receiver Settings”. See
Figure 8-11 a.
5. Configure "NTRIP Settings -> Reported Location" to "Use Android GPS". See Figure 8-11 b.
6. Start recording of Lefebure, and stop it after 15 minutes. The saved files can be found from
connected PC browser. See Figure 8-11 c.

a b

c
Figure 8-11

49
10 FAQ

Question #1: Why I’m unable to get RTK Fix when connecting to my local RTK base service?
Answer #1: RTK base service has several mountpoint options to select from, mountpoint with
compatible correction format need to be chosen in order to work. The mountpoint to choose for S100
are VRS type, NRT type, or RTCM3.x type supporting 1004 / 1012 sentence, or MSM4 / MSM5 /
MSM6 / MSM7 message ones, but not the FKP, MAC, iMAX, SSR, CMR, CMR+ ones.
Supported MSM4 messages are 1074, 1084, 1094, 1124.
Supported MSM5 messages are 1075, 1085, 1095, 1125.
Supported MSM6 messages are 1076, 1086, 1096, 1126.
Supported MSM7 messages are 1077, 1087, 1097, 1127.

Example 1. Newer MSM4 / MSM5 / MSM7 formats are preferred over older RTCM 3.1 format.

Example 2. VRS (Virtual Reference Station) type is preferred over NRT (closest physical base station)
type, as VRS has no operating range limit. S100 being GPS+GLO+GAL+BDS receiver, RTK base
supporting more satellite constellation (GPS+GLO+GAL) is preferred over one supporting lesser
satellite constellation (GPS+GLO).

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Example 3. FKP, MAC, RTCM23, SSR, VRS23, RTCM2.2 ones are not to be used. RTCM 3.2 with 1071
GPS MSM1 and 1081 GLONASS MSM1 are of incompatible type, not be used.

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Question #2: I’ve used correct mountpoint, but still unable to get RTK Fix, why?
Answer #2: RTK require strong signal to work. Make sure S100 is used outdoors under clear open sky
unblocked signal environment.

Although S100 is GPS/GLONASS/Galileo/Beidou quad-GNSS, only common set of satellite signals

tracked by both base and rover are used for RTK computation, thus when used with GPS/GLONASS
RTK base, effectively S100 is no different from GPS/GLONASS-only RTK receiver, and actual RTK used
satellite number will be less than tracked satellite number.

On initial use, it’s good to choose time of day when there are more satellites overhead, avoid least
number of satellite situation, because if blocked by distant trees then actual usable satellites becomes
fewer, and it’ll be more difficult to get RTK Fix. https://www.gnssplanning.com/

RTK is susceptible to interference. Normally the signal should fluctuate not more than 1dB-Hz in short
period. If seeing signal fluctuating by several dB in short time, it means there is interference affecting
RTK operation. A different location or different time of day without interference affecting RTK
operation will get RTK Fix.

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Appendix

A-1 More Usage Scenarios

Three GNSS correction techniques are adopted in S100 to gain high accuracy
positioning.
 RTK and PPK
Real Time Kinematic (RTK) is a GNSS position correcting technology that, in real-time, computes
accurate coordinates of rover, which receives correction data from base with known location
information.
Post Processed Kinematic (PPK) works to calculate accurate rover coordinates; except the
computing processes are done off-line after the correction data of rover and base has been logged.
Basically, the main difference between the two is when this positional correcting takes place. RTK
corrects during the survey time, and PPK corrects after the survey tasks, usually on a computer.
Normally he RTK/PPK accuracy is within 2 cm.
 PPP
Precise Point Positioning (PPP) is a signal augmentation technology that eliminates GNSS system
errors to provide high accuracy positioning using only a single receiver. PPP solutions rely on
GNSS satellite clock and orbit corrections which are generated from a global network of CORS.
Usually free PPP services give an accurate position one or several hours from the time when
correction data is logged/uploaded onto the PPP servers.
Normally the PPP accuracy is within 20 cm.
In section 4, the most commonly used real-time positioning scenario is mentioned.
In section A-1-1, another RTK scenario which involves a pair of S100 receivers:
Base-Rover RTK is described.
In section A-1-2, the post-processed positioning scenario which adopts PPK is
described.

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 The features of the three usage scenarios are listed in Table A-1.
Scenarios Involved Operations Provided Solution
Real-time Post Real Time Positioning Off-line
Processing Processing Positioning
4 VRS/CORS RTK V High accuracy
A-1-1 Base-Rover RTK with V V high accuracy after PPP
PPP-Corrected Base correction applied
A-1-2 PPK with V High accuracy
PPP-Corrected Base
Table A-1

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A-1-2 Base-Rover RTK with PPP-Corrected Base

Figure A-1
One pair of S100 RTK receivers are needed to perform RTK base and RTK rover in this scenario, as
shown in Figure A-1.
S100 rover connects to an Android smartphone via Bluetooth. User can then run the free “Polaris
Connect” app, or “Lefebure NTRIP Client” app on the smartphone for retrieving the RTK base station
data over Internet and sending it to the S100 RTK receiver. With “MOCK Location” option enabled on
the smartphone, GPS related location Apps on the smartphone will be able to use the more accurate
position from S100 RTK receiver.
In NTRIP structure, a NTRIP caster needs to be installed so that NTRIP server and NTRIP client can
transfer correction data from one to the other via Internet.
The RTK base can be an S100 RTK receiver (preferred) or an Alpha+ or another compatible RTK
receiver. The RTK base sends correction data to the connected NTRIP server, and then the data go
through NTRIP caster, NTRIP client and finally arrives at RTK rover, where rover coordinates are
calculated.
In this usage scenario, if the accurate RTK base’s accurate coordinates are not known, the rover
coordinates will have the same positioning error as base has regarding to its real coordinates. This
can be resolved by the PPP operations at RTK base side.
Doing PPP at base side gives accurate base coordinates. However, PPP is time consuming operations,
thus user can choose to
1. do base PPP after RTK survey task is finished, or
2. do base PPP before RTK survey task
User chooses the first option if user wants to start RTK survey task quickly; after the RTK survey, user
will then do position shift for all the survey data according to the accurate base coordinates obtained
from PPP.
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User chooses the second option if user wants to ensure accuracy of real-time RTK rover coordinates.
Follow the steps to perform PPP operations at RTK base side, and then do RTK survey as described in
the previous section.
1. Log RTCM correction data at base side for a period of time (1-2 hours at least). See section 7-3.
2. Upload the base correction data to a public PPP service site (e.g. AUSPOS)
3. PPP service site gives back a report with the accurate coordinates included.
4. If user do PPP before RTK, use the reported base coordinates as base coordinates in NTRIP server
settings. Press “Set” of “User Specified Coordinates”. See Figure A-2.

Figure A-2

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A-1-2 PPK with PPP-Corrected Base

Figure A-3

Under the environments where connection between base and rover is not available, PPK is the
possible option for non-real-time solution. PPK is an off-line operation of calculating accurate rover
coordinates after the survey task is over. The data logs of rover and base are input to RTKLib post
processing tools to do coordinate calculations, as shown in Figure A-3.
As described in the previous section, the inaccurate base coordinates bring positioning shift at rover
side. Thus, we do PPP at base side before PPK operations. Once base coordinates are obtained via
PPP operations, use them in PPK settings, and performs PPK to get rover locations.
In summary, the steps are
1. Follow the steps in section A-1-1 to get base coordinates
2. Use the obtained base coordinates in “rtkconv” program’s settings. See Figure A-4.
3. Follow the steps in section 7-1 to get rover coordinates.

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Figure A-4

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