GPS Practical Field Guide For Surveyors

Surv. Araen S. Asanarimam

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 GPS Practical Field guide for
Surveyors

Published 2018
Cover design & Printed in Nigeria by:
Mbasule Digital Press,
New Era Junction, Jalingo, Taraba State

Surv. Araen S. Asanarimam

Principal Surveyor, Office of the Surveyor-General of the Federation

Copyright © Araen Asanarimam Shinge, 2018

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted in any form or by any means- electronic or mechanical including photocopy,
without permission in writing from the Author.

ISBN:

Enquiries: [email protected]/[email protected]

+2347063440190, +2348167876732

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 Forward

Advancement in electronic and digital technology has revolutionized surveying

and mapping profession. Spatial information is included in many information
systems, including the Information System of Geodesy, Cartography and Cadastre.
Cadastral systems usually include a database containing spatially referenced land
data, a set of procedures and techniques for systematic collection, updating,
processing and distribution of data and a uniform spatial uniform system.
Cadastral data are defined as the geographic extent of the past, current, and
future rights and interests in real property including the spatial information
necessary to describe that geographic extent. Rights and interests are the benefits
or enjoyment in real property that can be conveyed, transferred, or otherwise
allocated to another for economic remuneration. Rights and interests are
recorded in land record documents. The spatial information necessary to describe
rights and interests includes surveys and legal description frameworks such as the
Public Land Survey System, as well as parcel-by-parcel surveys and descriptions
This book is divided into four parts. Both parts are about procedures and
techniques for spatial cadastral data collection using GPS technology. Chapter one
deals with the general basic theory of GNSS. Chapter two deals with the aspects
of planning GPS observations. Chapter three deals with the practical application
of GPS in cadastral surveying and chapter five contains practical steps in setting
up Leica GPS 1200 equipment.

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 DEDICATION

We dedicate this book to The Almighty God and to all Surveyors both in public
and private sectors.

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 Acknowledgement.

I acknowledged the Grace and wisdom of the Almighty God in putting this work.
To Him belongs all the glory and Honour.

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 TABLE OF CONTENTS

Chapter One: Concept of GNSS

1.1 GLOBAL NAVIGATION SATELLITE SYSTEM :…………………………… 7

1.1.1. The use of GPSS for Cadaster :………………………………………………... 8
1.1.2. Components of Global Navigation Satellite System:………………… 10
1.1.3. Basic Principles of GNSS Measurements:………………………………… 12
1.1.4. Global Positioning System (GPS):…………………………………………… 14
1.1.5. GLONASS (Global'naya Navigatsionnaya Sputnikovaya Sistema):…28
1.1.6. Galileo:………………………………………………………………………………..........31
1.1.7. Comparison between GPS, GLONASS and Galileo:……………………… 32
1.2. GNSS ERRORS:…………………………………………………………………………… 33
1.3. Types of GNSS Positioning:……………………………………………………… 39
1.3.1. Code Phase Positioning:………………………………………………………… 40
1.3.2. Differential corrections and SBAS:…………………………………………… 41
1.3.3. Carrier Phase Positioning:……………………………………………………… 46
1.3.4. Real Time Kinematic:………………………………………………………………. 47

Chapter Two: Planning GPS Observation:………………………. 53

2.1 office Planning:………………………………………………... 53
2.2 Field Planning:………………………………………………. 53
2.3 Data Downloading and Processing:……………………….. 55
2.4 Steps computations to get coordinates in ellipsoid:………. 57
2.5 How Orthometric heights of stations are deduced from known BM
height:…………………………………………………………… 57
2.6 field observations Process:……………………………… 62
Chapter Three:
Applications of GPS in cadastral surveying:……………….. 70-139
Chapter Four
Practical steps in setting up and working the Leica GPS 1200
Equipment:……………………………………………………… 139
Bibliography
About The Author

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 Chapter one

GPS SURVEY
1.1 FRAME WORK GPS CONTROL -
The first essential requirement to produce an accurate map is to cover the
whole area with a number of carefully determined points which will form a
framework on which to base the ensuing survey of the physical detail in the area.
Such a method prevents the accumulation of any system of errors outside those in
the actual framework.
The accuracy of a survey thus depends ultimately on the accuracy of its framework
or basis.
The basis of a survey consists of points fixed by one, or a combination of the
following methods:-
(1) By Global Positioning System (GPS)
(2) Trilateration
(3)Triangulation
(4) Astronomical determinations.
(5) Traverse.
Of these, the soundest modern method for topographical operations is beyond all
question a system of accurate GPS survey where by undue accumulation of error is
precluded in the extension of the error in the internal details. This chapter contains
only GPS Survey, trilateration and triangulation.

1.1.1 GLOBAL NAVIGATION SATELLITE SYSTEM

Global Navigation Satellite System (GNSS) is a term used for the
infrastructure that includes a constellation of orbiting satellites stations with
worldwide coverage, which are working in conjunction with a network of ground
stations and Satellite-Based Augmentation Systems. This infrastructure allows
determination of the geographic position, distance, direction, velocity and local
time of a user's receiver anywhere in the Earth (on surface or in air) by processing
signals from satellites in space. GNSS can be used for civil and military
applications.
Currently, the following GNSS systems are operational:

- GPS (United States): the first GNSS, also known as NAVSTAR-GPS:

NAVigation System with Timing and Ranging Global Positioning System:
fully operational since 1993, is managed by the US Department of Defence
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 (DoD). It now uses a constellation of between 24 and 32 satellites, and
provides global coverage.
- GLONASS (Russia): the GNSS is completed in 1995 and fully operational
since 2011, is managed by the Russian Aerospace Defence Forces. The full
GLONASS constellation consists of 24 satellites, and provides global
coverage.
The following GNSS systems are in varying stages of development and planning:
- Galileo (European Union): Europe’s GNSS, currently under development as
the only civil GNSS, is owned and managed by the European Union. When
complete, it will consist of 30 satellites.
- Compass (China): the Chinese GNSS, set to supersede the Compass
regional system operating since 2000, is managed by the governmental
China Satellite Navigation Office. The system will consist of 35 satellites. A
regional service is provided by 2010; the service will be extended to provide
global coverage in the years 2015-2020.

The following regional navigation satellite systems are planned and are in varying
stages of development:
- IRNSS (India)
- QZSS (Japan)

Satellite-Based Augmentation Systems (SBAS), for example, such as EGNOS

(Europe), WAAS (North America), GAGAN (India) and MSAS (Japan), are
geostationary satellite systems that provide services for improving the accuracy,
integrity, and availability of basic GNSS signals.

1.1.2 The use of GPSS for Cadaster

Surveying for cadastral purposes normally requires an accuracy in absolute
position of 10 cm. This accuracy and higher (up to 1 cm) can be easily achieved
utilizing GNSS observations of survey grade GNSS receivers. Thus, the high
precision of GNSS carrier phase techniques, together with appropriate adjustment
algorithms and differential corrections, which are discussed below, provide an
adequate accuracy of cadastral surveying with using GNSS.
In current cadastral surveying practice, GNSS is often used in conjunction with
traditional surveying methods to provide sufficient information to fix boundaries,
marks and occupations which are needed to create or to update a cadastral plan.
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GNSS receivers can be used to position survey markers, parcels boundaries and
corners, buildings, and other objects related to a cadastral survey. Probably the
main use of GNSS in a cadastral survey is an absolute coordinate surveying of
control points or tacheometric stations. For example, control points measured by
GNSS can be used as start and end points of total station traversing. Or, as is
shown in Lab Assignment 1, the GPS point network can be used for the
positioning and orientation of a tacheometer at a survey control station from
which the plot’s boundary are measured by tacheometric techniques.
GNSS instruments can also be used to measure corners and tuning points of a
plot’s boundary directly. However, GNSS measurements may require longer
occupation times to do measurements on a point. An occupation time is the
amount of time required to allow satellite acquisitions on a station, or point, and
to achieve successful processing of GNSS data. Higher precision typically requires
a longer occupation time. Occupation times can vary from a couple of seconds
(kinematic surveys) to several hours (control surveys). Therefore, for cadastral
surveying, it could be more time-effective to establish control points with GNSS,
but perform cadastral boundary surveying with a total station. For such a method
of surveying an integrated GPS TPS can be used. However, kinematic and rapid-
static GNSS surveying techniques do not require excessively long occupation
times and can provide accurate cadastral maps in a relatively short period of time
and can be reasonably inexpensive.
One advantage of GNSS surveying is that it provides absolute measurements of
coordinates in a predefined coordinate reference system. However, for the very
accurate GNSS measurements differential or a relative position to base station(s)
are required. In addition, GNSS survey techniques can be more accurate than
conventional tacheometry.
All GNSS cadastral surveys must be undertaken in accordance with accepted good
survey practice such as GNSS observation procedures, and should be designed to
detect and eliminate GNSS-related surveying errors.
GNSS data processing and mission planning software are available on the
market/Internet or supplied with GNSS devices. The software provides a
capability to process GNSS observations captured by receiver(s) and then export
data files in a number of different GIS/CAD formats. Then the GNSS data can be
represented in a graphical form to draw parcel boundaries with dimensions
derived from the GNSS coordinates.

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1.1.3 Components of Global Navigation Satellite System
GNSS satellite systems consist of three major segments or components:
space segment, control segment and user segment (Figure 27). These segments
are quite similar in the three major satellite technologies (GPS, GLONASS and
Galileo).

Figure1: Components of Global Navigation Satellite System.

GPS SPACE SEGMENT
- The space segment consists of a number of GNSS satellites that are
orbiting more than 20,000 km above the Earth. GNSS satellites typically fly
in medium Earth orbit. Satellites orbit the earth in an elliptical path. Earth
becomes the focal points link.
Each GNSS has its own “constellation” of satellites, arranged in orbits to provide
the desired coverage. Each satellite in a GNSS constellation broadcasts a signal
that identifies it and provides its time, orbit, and status.

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Satellites of SBAS also can be considered as a part of the space segment. SBAS
satellites usually use the geostationary orbits. The term geostationary is used to
refer to the special case of a geosynchronous orbit that is circular (or nearly
circular) and at zero (or nearly zero) inclination, that is, directly above the
equator. Satellites in geostationary orbits appear stationary at one location at all
times.

GPS Control Segment

The control segment comprises a ground-based network of master control
stations, data uploading stations, and monitor stations. Monitor stations, usually
installed over a broad geographic area, monitor the satellites' signals and status,
and relay this information to the master control station. The master control
station analyses the signals then transmits orbit and time corrections to the
satellites through data uploading stations. The master control station corrects the
satellites' orbit parameters and onboard high-precision clocks when necessary to
maintain accuracy.

Figure 2: Control Segment

GPS USER SEGMENT
The user segment of GNSS consists of military and civilian users who use GNSS
equipment to process the received signals from the GNSS and/or SBAS satellites
to derive and apply location, velocity, direction and time information. The
equipment ranges from handheld receivers used for navigation, to sophisticated,
specialized receivers used for survey and mapping applications.

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Satellite signals require a direct line to GNSS receivers. Trees, buildings, bridges,
mountain ranges, and your body can all block the satellite signals. Heavy forest
canopy causes interference, making it difficult to compute positions. Signals
cannot penetrate water, soil, walls or other obstacles.

GPS receivers are classified based on the code and carrier phase available
with them.
- C/A code
- C/A code + L1 carrier phase
- C/A code + L1 carrier phase + L2 carrier phase
- C/A code + P code + L1 L2 carrier phase

Another classification of GPS receiver is possible with respect to user community.

- Military Receiver
- Civilian Receiver
- Navigation Receiver
- Geodetic Receiver

Figure 3: A typical GPS components

1.1.4 Basic Principles of GNSS Measurements

The basic idea behind of satellite-based navigation systems is that they use
a version of trilateration to locate a user’s receiver, through calculations involving
information from a number of satellites. Each satellite transmits coded signals at
precise intervals. A GNSS receiver on or near the earth's surface uses these signals
to calculate the distance between it and the transmitting satellite (from the
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transmission time delay). Coordinating current signal data from four or more
satellites enables the receiver to determine its position, velocity, and time.
GNSS radio signals are quite complex. Their frequencies are around 1.5 GHz
(gigahertz) - 1.5 billion cycles per second – it is a portion of UHF (Ultra High
Frequency) radio waves of the electromagnetic spectrum. GNSS operates at
frequencies that are higher than FM radio, but lower than a microwave oven. In
general, GNSS satellites transmit signals at extremely low power levels. Because
of their frequency and low power, the signals have a relatively limited ability to
penetrate tree canopy, water, soils, building walls, or other obstacles.

By knowing exactly where each GNSS satellite is, and how long it has been since
the signal was emitted, a GNSS receiver can calculate the distance to the satellite.
The receiver calculates how long the tracked satellite signal took to reach it, as
follows: 𝑇 (𝑝𝑟𝑜𝑝𝑎𝑔𝑎𝑡𝑖𝑜𝑛 𝑡𝑖𝑚𝑒) = 𝑇𝑖𝑚𝑒 𝑆𝑖𝑔𝑛𝑎𝑙 𝑅𝑒𝑎𝑐𝑕𝑒𝑑 𝑅𝑒𝑐𝑒𝑖𝑣𝑒𝑟 – 𝑇𝑖𝑚𝑒
𝑆𝑖𝑔𝑛𝑎𝑙 𝐿𝑒𝑓𝑡 𝑆𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒
Since the speed of light, 𝑐, is approximately 300,000 km/s in a vacuum, a receiver
can calculate the distance or range 𝐷 to the satellite by using 𝑃𝑟𝑜𝑝𝑎𝑔𝑎𝑡𝑖𝑜𝑛
𝑇𝑖𝑚𝑒. Since 𝐷 = 𝑐 ∗ 𝑇, it can calculate the distance to the satellite. If the
propagation time was calculated as 0.07 seconds, the distance or pseudo-range to
a satellite from a receiver can be calculated as follows:
If 𝐷 = 𝑐 ∗ 𝑇, and 𝐷 = 300,000 𝑘𝑚/𝑠 ∗ 0.07 𝑠 then 𝐷 = 21,000 𝑘𝑚
A pseudo-range is a range estimated from the time rather than a true range.
Of course, this is estimated calculation, since the speed of light slows slightly, and
is refracted when it enters a medium such as the Earth’s atmosphere. Differing
levels of atmospheric pressure cause differing amounts of refraction as the radio
signal penetrates more deeply into the Earth’s atmosphere.
In order to calculate the position of user’s receiver (or coordinates of point on the
Earth), the receiver should know the exact position of three satellites and the
exact distance to each of them. Therefore, with GNSS, trilateration refers to
measuring the distances (ranges) from 3 satellites to establish a position of a
receiver on the Earth.
In Figure , the positions of the three satellites are known exactly, and the receiver
can calculate D1, D2, and D3 by the time it takes the radio signal to reach the
GNSS receiver. Three distance measurements narrow down the receiver position
to just two points. Usually the receiver can discard one of the last two points

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because it is nowhere near the Earth. Three distances plus Earth’s surface define
one point - the X and Y coordinates of the GNSS receiver on an ellipsoid. Four
distances define one point as well, however distances from four 4 satellites can be
used for 3D positioning - the X and Y coordinates on an ellipsoid and height above
the ellipsoid (𝑕).

In order to transmit the exact time as part of the GNSS signal, each satellite must
keep very precise time. To do this, GNSS satellites make use of atomic clocks that
is very precise but also very expensive ($100,000 and more). All satellite clocks are
synchronized and they send their codes at a known time.
However, receivers contain clocks similar to a quartz watch, which is not very
accurate. Normally a quartz crystal can lose a second a day, thus there is always
an error between satellite and receiver clocks. This error is called timing offset
(Δ𝑡).
Thus, the first three measurements narrow down a GNSS position. Three ranges
are enough if we reject ridiculous answers. The fourth measurement is needed to
correct for timing offset (difference in synchronization between satellite and
receiver clocks). An extra 4th satellite’s range measurement removes timing
offset errors. Distances to four satellites enable the receiver to resolve ambiguity
in spatial positioning.
There are four unknowns: the receiver coordinates (Latitude, Longitude and
Altitude) and the receiver clock offset. Four measurements are needed to solve
the equation. In order to solve for these four unknowns, pseudo-range
measurements must be taken to a minimum of four satellites to triangulate the
position of the receiver.

1.1.5 Global Positioning System (GPS)

As of today, the complete satellite technology is the GPS technology and
most of the existing worldwide applications related to the GPS technology.
Therefore, this technology will be discussed in more detail in this manual.
The Global Positioning System (GPS or originally known as NAVSTAR) is a
worldwide radio-navigation system formed from a constellation of 24 satellites
and their ground stations. The GPS can be used to locate positions anywhere on
the earth. Operated by the U.S. Department of Defense (DoD), GPS provides
continuous (2 hours/day), real-time, 3-dimensional positioning, navigation and

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timing worldwide. Any person with a GPS receiver can access the system, and it
can be used for any application that requires location coordinates.

Figure 4: GPS satellite constellation.

GPS Space Segment: The first GPS satellite was launched by the U.S. Air Force in
early 1978. The current GPS constellation consists of 24 satellites plus spares,
located in 6 orbital planes, which are inclined 55 degrees to the equator. As of
August 17, 2015, there were 31 operational satellites in the GPS constellation. The
GPS constellation is a mix of old and new satellites (Block’s generations). See the
official U.S. Government information about GPS page satellites at
http://www.gps.gov/systems/gps/space/.
There are four satellites in each of 6 orbital planes. Each orbital plane crosses the
equator at 60 degrees from the next plane, so the orbits cross at 17, 77, 137, 197,
257, and 317 degrees. The system is designed to maintain full operational
capability even if two of the 24 satellites fail.
Each satellite orbits at 20,200 km altitude. The orbits are very high so that they
are stable and predictable. If the orbits were lower, friction from the Earth’s
atmosphere would eventually alter the orbit of the satellite. Each satellite orbits
the Earth every 11 hours 56 minutes, which means that they pass over any point
on the earth about twice a day. The satellites rise (and set) about four minutes
earlier each day, and are synchronized with the celestial sphere.
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Each satellite is about the size of a car, and weighs 860 kg. The satellites are
powered by solar panels, which rotate to follow the sun, and are used to charge
Nickel-Cadmium batteries for times when the satellite is in the Earth’s shadow.
The satellites have two important types of equipment on board – atomic clocks
and radios/antennae to transmit the signal to Earth. On board each GPS satellite
are four atomic clocks, only one of which is in use at a time.

i. Data Necessary for commencing GPS survey -

For providing control by GPS, no extra data is required except the GCPs
established in first phase or second phase. During observations to provide new
control points, old GCPs must be connected with new work and the control points
must be adjusted taking old GCP of first phase or second phase as fixed stations.
ii. GCP‘s of first phase or second phase -
The GCPs are available at an inter station spacing of about 30 km in the
area. The area may have GCP of first phase i.e. inter station spacing of about 300
km.
iii. Planning and Reconnaissance -
While surveying with GPS, there is no need to have inter-receiver visibility
to measure a base line. GPS receives no signals between themselves, but from
satellites orbiting the earth. Planning of network can be made as good as possible.
The only constraint to receive these signals is having a clear view of the sky. Tall,
dense trees are not desirable near a GPS station. Select station away from tall
building and walls. Choose a station with no obstructions above an inclination
angle of 15-20 degrees. High power television or microwave transmitters near the
station may cause interferences.
Try to locate GPS stations about 1 km away from them. If the control is needed
near by such obstructing locations, the control can be made by EDM / Total station
traverse starting from GPS station selected for frame work.
GPS satellite surveying is a three dimensional measurement system based on
observations of the radio signals of the NAVSTAR Global positioning system. The
GPS observations are processed to determine station positions in Cartesian
coordinates (x,y,z) which can be converted to geodetic coordinates (latitude,
longitude and height above reference ellipsoid). With adequate connections to
vertical control network i.e. points of the known orthometric heights. Elevations
can be computed for the points with unknown elevations.

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iii. Planning and Reconnaissance -
While surveying with GPS, there is no need to have inter-receiver visibility to
measure a base line. GPS receives no signals between themselves, but from
satellites orbiting the earth. Planning of network can be made as good as possible.
The only constraint to receive these signals is having a clear view of the sky. Tall,
dense trees are not desirable near a GPS station. Select station away from tall
building and walls. Choose a station with no obstructions above an inclination
angle of 15-20 degrees. High power television or microwave transmitters near the
station may cause interferences.
Try to locate GPS stations about 1 km away from them. If the control is needed
near by such obstructing locations, the control can be made by EDM / Total station
traverse starting from GPS station selected for frame work.
GPS satellite surveying is a three dimensional measurement system based on
observations of the radio signals of the NAVSTAR Global positioning system. The
GPS observations are processed to determine station positions in Cartesian
coordinates (x,y,z) which can be converted to geodetic coordinates (latitude,
longitude and height above reference ellipsoid). With adequate connections to
vertical control network i.e. points of the known orthometric heights. Elevations
can be computed for the points with unknown elevations.

There are two methods by which station positions can be determined:

1. Point Positioning
2. Relative Positioning

1. Point Positioning: At site station data is processed to determine three

dimensional coordinates (x,y,z) referenced to WGS84 earth centered reference
datum. The present accuracy for GPS point position determination ranges between
50 cm to 10 m depending upon the accuracy of the ephemerides and period of the
observations.
2. Relative Positioning: Two or more GPS receivers receives signal simultaneously
from the same set of satellites. These observations are processed to obtain the
component of base line vectors between observed stations.

iv. Planning for Network Design -

General Information: GPS can be used like any other surveying tool; it can
accomplish certain goals if we are conscious of its strengths and limitations. When
surveying with GPS, we do not need to have inter-visibility between the stations to
measure a baseline. The only constraint to receive the signals is having a clear
view of the sky.
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Network design on Map: To design of a GPS network, make a map of the station
in a good geometric figure, both fixed control points and unknown points for the
entire project area considering the every project structures. Correctly scale the map
since distance between the stations is an important factor.
The confidence level of survey control points is dependent not only on the
accuracy of the field measurements but also on the configuration of the control
network.
For a network to fulfill its basic role as a strong and reliable reference framework,
it must be homogeneous, feature a reasonable number of redundancies and the
individual figures should be well-shaped. Stations should be as evenly spaced as
possible, and all adjacent pairs of stations in the network should preferably be
connected by direct measurement. The ratio of the longest length to the shortest
should never be greater than one is to five and usually should be much less. Higher
difference in heights between two stations will be avoided in the network. Network
will be designed in such a way that it contains several small closed loops within the
large network.
There are two types of control points: 1. Horizontal Control 2. Vertical Control
Horizontal Control : A minimum of 3 to 4 fixed control points are needed in an
average size of project for a complete adjustment. The more number of controls,
the better the redundancy which results in a higher quantity of checks. Four control
points, two at both end of the network are required to be established for network
adjustment.
Vertical Control : MSL heights are not to be confused with GPS heights. This is
because GPS heights are based on the WGS84 ellipsoid while MSL (Mean Sea
Level) heights are based on an equipotential surface coinciding with MSL called
the Geoid. To convert the GPS ellipsoidal heights to MSL heights we must need to
know the geoidal undulation at that point i.e. Separation between Geoid and
Ellipsoid.
As much as possible, maximum number of GPS stations of the network must be
connected with conventional levelling procedures which can be used as fixed
points for height adjustment. The height of the GPS Control Points which is not
connected with levelling line will be adjusted by adjustment program with the help
of fixed vertical control points and EGM96 Geoid model; it will force the
unknown vertical points onto the same datum as the fixed points.
v. Recee on the ground –
All location of control points on the map will be established on the ground as
possible so that design of the network will not be distorted and keeping the
following points into the considerations:
1. Use of good geometry in the network.
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2. Inter-visibility between the connecting points will be ensured at each feature of
site.
3. Grazing ray will be avoided.
4. Clear visibility of sky above 15° of altitude all around the site is to be ensured.
5. No points should be selected near high tension power lines and other structures
causing multipath / magnetic effect.
6. P.T. / Chart on scale 1:25,000 showing the location of new recceed stations with
geometrical figure and location of standard bench marks will be prepared. Every
Control point will be allotted a unique station ID number with name.
7. Description of each station and bench mark will be written as per the existing
specification for G.T. stations / Standard bench marks.
8. Sketches with obstructions / curtains will be prepared for each station separately.
vi. GPS Observation –
A session is defined as where two or more receivers collect data simultaneously.
The time of collecting data for a session is dependent on several factors, one being
satellite availability. The time to end a session is dependent on how long we wish
to collect simultaneous data. The length of data collection is related to, but not
limited to, the distance between receivers.
Non simultaneous data collection is unproductive. Therefore it is important that
receivers start collecting data for a specified time simultaneously. Time of
observation should be selected by the Mission Planning Software.

vii. GPS Observation Principle –

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Figure 5: Example of GPS observation principle

Let the signal transmit time form the satellite be Tt Signal received time by
the receiver is Tr Synchronization error between receiver and satellite clocks is
Velocity of EM signals = velocity of light = c
Pseudo Range (Between Receiver‘s Antenna and Satellite) is
In the above equations (Xi , Yi, Zi) are the satellite coordinates known to the user
from the broadcast ephemeris.
(X0, Y0, Z0) are Antenna coordinate in which the user is interested that is an

also unknown. To solve these four unknown the user requires four satellites to
make four equations and can find (X0, Y0, Z0) and
linearization to solve it

GPS has numerous advantages over traditional surveying methods:

1. Inter-station visibility between points is not required.
2. Can be used at any time of the day or night and in any weather.
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3. Produces results with very high geodetic accuracy.
4. More work can be accomplished in less time with fewer people.
Limitations
In order to operate with GPS it is important that the GPS Antenna has a clear view
to at least 4 satellites. Sometimes, the satellite signals can be blocked by tall
buildings, trees etc. Hence, GPS cannot be used indoors. It is also difficult to use
GPS in town centers or woodland.
Due to this limitation, it may prove more cost effective in some survey applications
to use an optical total station or to combine use of such an instrument with GPS

GPS Satellite Signals:

GPS satellites broadcast in the UHF portion of the electromagnetic spectrum. The
radio waves that they emit are governed by the same rules that affect all other
forms of light. Because GPS supports multiple military and civilian applications,
each satellite transmits multiple signals on multiple frequencies to support the
different services offered. The same is true for the Galileo and GLONASS systems.
Each GPS satellite is sending out signals with the following content: the satellite’s
ID, position and time stamp. In addition, each satellite sends a navigation
message about the position of other satellites (ephemeris and almanac data) used
in GPS receivers for later calculations. This content is modulated onto a carrier
frequency signal in order to be sent from the satellite to the receiver.
GPS satellites currently emit in five frequencies carrier channels, which are
identified as L1 to L5. The frequencies, availability, and applications of these
carrier channels are described in Table 1. The carrier signal is controlled by atomic
clock. All carrier radiofrequencies and codes are generated from the same
10.23MHz crystal whose long term stability is controlled by Cesium or Rubidium
clock (older satellites). 10.23 MHz is fundamental frequency in GPS.

Table 1. Signals used in GPS Satellites, their frequencies, application, and

current availability

Channel Frequency Original usage Modernized Availability

(MHz) usage

L1 1575.42 Contains 2 positioning C/A, L1 All Satellites

(10.23×154) codes: C/A Civilian (L1C),
21
 (Coarse/Acquisition) and Military
and P (Precise) code. (M) code
Also contains the
navigation message,
which is contained
within the C/A code.
L2 1227.60 Contains P (Precise) C/A code has All Satellites
(10.23×120) Code (redundant been added
transmission of same on this
code as in L1 signal). channel in
This channel is also newer
used to measure satellites (L2
ionospheric delay in Civilian (L2C)
military receivers. code) and
Military (M)
code

L3 1381.60 Nuclear weapons The same Block IA and

(10.23×135) monitoring. Used to above
detect when missile
launches, nuclear
detonations, and high-
energy infrared events
are detected
L4 1379.913 (No transmission) Additional Block IIR and
(10.23×1214/9) Ionospheric above
correction satellites
signal for
improvement
of GPS
accuracy
L5 1176.45 (No transmission) Safety-of-Life Block IIF and
(10.23×115) signal. Used Block III GPS
for aircraft Satellites
navigation.
Within

22
 protected
band with
little radio
interference.

For example, the L1 carrier signal at 1575.42 MHz (10.23 MHz × 154) frequency, is
modulated with C/A code, P(Y) code and navigation message (Figure 30). L1C code
will be launched soon as a fourth code of L1 carrier signal and will be used as a
common civil signal for GPS, Galileo, QZSS and BeiDou GNSSs.

Figure6 . Multiplexing of C/A, Navigation Message, and P code into L1 signal

There are two basic kinds of GPS ranging codes (codes used to determine
𝑝𝑟𝑜𝑝𝑎𝑔𝑎𝑡𝑖𝑜𝑛 𝑡𝑖𝑚𝑒): these are Coarse Acquisition (C/A) and Precise (P) codes.
C/A-code and P-code are used for the satellite clock reading, both are
characterized by a pseudorandom noise (PRN) sequence. Current C/A and P(Y)
code-signals are broadcast on both the L1 and L2 frequency carriers.
C/A Code is modulated into the L1 signal (and L2 since 2014) and available to
civilian users. The course acquisition code chip rate (rate at which the phase
might change) is 1.023 MHz. C/A Code provides Standard Positioning Service
(SPS). Using the SPS one can achieve 15 meter horizontal accuracy 95% of the

23
time. This means that 95% of the time, the coordinates you read from your GPS
receiver display will be within 15 meters of your true position on the earth. Using
C/A code on both frequencies (L1 and L2) and additional techniques, a GPS
receiver can achieve better accuracy.
C/A Code (as well as P-code) is a repeating Pseudo Random Noise (PRN) code. The
codes consist of a sequence with the states +1 or -1, corresponding to the binary
values 0 or 1 (Figure 32) information. Each satellite has its own PRN sequence or
code. PRN is generated from a "seed" number by algorithm. The algorithm is
conveyed in the navigation message from the satellites to a receiver. By using the
algorithm received from satellites, a GPS receiver generates the identical C/A
code as the satellite. Thus the receiver can separate the signals of each of the
satellites by PRN code and plus use the code to determine 𝑝𝑟𝑜𝑝𝑎𝑔𝑎𝑡𝑖𝑜𝑛 𝑡𝑖𝑚𝑒.

Figure 7: Example of Pseudo Random Noise code and C/A code modulation
24
 In April 2014, the new L2C-code was added to the L2 frequency. L2C is the
second civilian GPS signal, which can be combined with L1 C/A in a dual-frequency
receiver, to enable ionospheric correction to increase accuracy. Dual-frequency
GPS receivers can achieve the same accuracy as the military receivers.
L1C is the fourth civilian GPS signal, designed to enable interoperability between
GPS and international satellite navigation systems. L1C is not fully implemented
yet.
P (Precise) code, used for the Precise Positioning Service (PPS), is available only to
the military and authorized users, the P(Y) code is classified. The P-code rate is 10
times higher than C/A code and is 10.23 PRN code. P-code has the anti-spoofing
mode: Virtually anybody can generate a correct C/A code, so it is quite easy to
throw off the GPS position. The actual P-code is not directly transmitted by the
satellite, but it is modified by a Y anti-spoofing code, which is often referred to as
the P(Y) code. A GPS receiver with a cryptographic key can decode Y-Code to
produce P-Code. Being able to decode a signal allows a user to be sure that it is a
"real" GPS signal. Y-code is also 10.23 MHz derived by multiplying P-code by
~20KHz code.
Using C/A code and P-code on both frequencies, a GPS receiver can achieve better
accuracy. Additional techniques can increase the accuracy of both C/A code and P
code GPS receivers.

25
Figure 8: P-code modulation

Figure 9: Composite: Sum of C/A and P code

The M-code GPS signal was first broadcast from the GPS Block IIR-14(M)
satellite that was launched on September 25, 2005. All new GPS satellites
transmit M-code as well as the P(Y)-code signal. M-code is an integral part of GPS
modernization and the key enabler for the US Defense Department’s Navigation
Warfare program.
In addition to the PRN code, the navigational message is modulated into the
signal. Navigational message data modulation is implemented by changing the
sign of code at a rate of 50 bits/second. The GPS navigational message is used for
prediction of orbital parameters and contains two different pieces of information
– ephemeris data and almanac data. After turned on, a GPS receiver must update
its almanac and ephemeris data and store it in memory.
Ephemeris data tells the GPS receiver where each GPS satellite should be at any
time throughout the day. Satellite position (ephemeris) must be known as a
reference for range measurements. Ephemeris data is a set of parameters that
26
can be used to accurately calculate the location of a GPS satellite at a particular
point in time. This information is accurate to many decimal places.
Satellites are launched into precise and very predictable orbits. US Airforce
measures error in ephemeris (satellite position and speed) when they fly over the
Colorado Springs control station. Corrected ephemeris information is sent up to
the satellite, to be transmitted to users’ receivers along with the PRN signals.
To accurately calculate a receiver location, ephemeris data is only usable for a
limited time. Ephemeris records are updated every hour. Up-to-date data is
needed to minimize error that results from minor variations in a satellite's orbit.
After using all of these parameters, corrections to satellite coordinates at signal
transmission time are calculated. Satellite coordinates refer to the WGS 84
system.
Satellite almanac data are used by GPS receivers to predict positions for the
satellites (ephemeris). Almanac information is constantly transmitted by each
satellite. It has information about the orbits of the entire GPS 24-satellite
constellation. It is sent along with position and timing messages. A GPS receiver
uses the almanac to establish the availability and position of each satellite it is
tracking. Almanac information is less accurate than the ephemeris. It is valid for
about 30 days and updated every 6 days or less.
Almanac information includes data about the state (health) of the entire GPS
satellite constellation, coarse data (including coordinates) on every satellite's
orbit, and satellite clock correction parameters. A complete almanac file in GPS
memory helps a ground GPS receiver acquire a signal and determine an initial
position more rapidly; used to predict satellite visibility at a particular location;
used in mission planning software etc.

GPS Coordinate Systems:

The Cartesian coordinate system of reference used in GPS/GLONASS is
called Earth-Centered, Earth-Fixed (ECEF). ECEF uses three-dimensional X,Y,Z
coordinates (in meters) to describe the location of a GPS receiver or satellite. The
origin (0,0,0) of Earth-centered reference is located at the mass center of gravity
(determined through years of tracking satellite trajectories). The axes of reference
are fixed with respect to the earth (that is, they rotate with the earth). The Z-axis
pierces the North Pole, and the XY-axis defines the equatorial plane.
The ECEF coordinates are converted by receiver into reference ellipsoid geodetic
coordinates of Latitude, Longitude, and Altitude by using the equation-based
method. GPS measurements are calculated by GPS software in the geographic
27
coordinate system of WGS84 datum with Geodetic Reference System 1980 (GRS)
ellipsoid (ECEF). Then, a receiver or office GNSS software can transform satellite
coordinates to other coordinate systems, NAD83, УСК–2000, etc.
The height determined by GPS measurements relates to the perpendicular
distance above the reference ellipsoid and not the elevation above geoid or Mean
Sea Level (MSL).
GPS Control Segment:
The GPS-System is controlled by the US DoD (Department of Defence). The
current operational GPS control segment includes a master control station, an
alternate master control station, 12 command and control antennas, and 16
monitoring sites. A master control station is located at Falcon Air Force Base in
Colorado Springs, CO.
The GPS control stations measure the satellite orbits precisely. Any discrepancies
between predicted orbits (almanac) and actual orbits, and clock (time)
information are transmitted back to the satellites. The satellites can then
broadcast these corrections, along with the other position and timing data, so
that a GPS receiver on the earth can precisely establish the location of each
satellite it is tracking.
GPS User Segment:
The U.S. military uses GPS for navigation, reconnaissance, and missile
guidance systems. Civilian use of GPS developed at the same time as military uses
were being established, and has expanded far beyond original expectations. There
are civilian applications for GPS in almost every field, from surveying to
transportation to natural resource management to agriculture.

1.1.6 GLONASS (Global'naya Navigatsionnaya Sputnikovaya Sistema)

GLONASS (Globalnaya Navigatsionnay Sputnikovaya Sistema) is the Russian
Federation's GNSS. The Ministry of Defense of the Russian Federation operates
GLONASS.
The nominal GLONASS Space Segment consists of 24 operational satellites
and several spares. The satellites are placed into nominally circular orbits with
target inclinations of 64.8 degrees and an orbital radius of 19,100 km. This results
in an orbital period of 11 hours 15 min 44 sec. Eight evenly spaced satellites are
arranged in each of three orbital planes, inclined at 64.8 degrees to the equator
and spaced 120 degrees apart (Figure 34). The constellation of 24 satellites
provides a continuous and simultaneous visibility of at least five satellites over
28
more than 99% of the earth surface. GLONASS provides three-dimensional
position and velocity determinations based upon the measurement of transit time
and Doppler shift of radio frequency (RF) signals transmitted by GLONASS
satellites.

Figure 10. GLONASS satellite constellation

The GLONASS satellite signal identifies the satellite and includes:

positioning, velocity and acceleration information for computing satellite
locations; satellite health information; offset of GLONASS time from UTC
(Coordinated Universal Time); almanac of all other GLONASS satellites. GLONASS
has its own time scale called GLONASS time, which is synchronized within 1
second of UTC time. The navigation message has the data necessary to convert
between GLONASS time and UTC time.
GLONASS satellites each transmit on slightly different L1 and L2 frequencies, with
the P-code (HP-code) on both L1 and L2, and the C/A code (SP-code), on L1 (all
satellites) and L2 (most satellites).
Table 2 summarizes the GLONASS signals.

29
Table 2: GLONASS FDMA Signal Characteristics

Designation Frequency Description

L1 1598.0625 -1609.3125 L1 is modulated by the HP

MHz (high precision) and the
SP (standard precision)
signals.
L2 1242.9375 -1251.6875 L2 is modulated by the HP
MHz and SP signals. The SP
code is identical to that
transmitted on L1.

At peak efficiency, the SP-signal offers horizontal positioning accuracy

within 5–10 meters, vertical positioning within 15 metres.
GLONASS is based upon a frequency division multiple access (FDMA) concept:
each satellite transmits carrier signals on a different frequency (e.g., L1 carriers
are in 1598.0625 -1609.3125 MHz). A GLONASS receiver separates the total
incoming signal from all visible satellites by assigning different frequencies to its
tracking channels. The use of FDMA permits each GLONASS satellite to transmit
an identical SP-code. More exactly, the GLONASS system is based on 24 satellites
using 12 frequencies. It achieves this by having antipodal satellites transmitting on
the same frequency. Antipodal satellites are in the same orbital plane but are
separated by 180 degrees. The paired satellites can transmit on the same
frequency because they will never appear at the same time in view of a receiver
on the Earth’s surface. Since 2008, new CDMA (Code division multiple access)
signals are being researched for use with GLONASS.
A navigation message, which is modulated in carrier, is transmitted from each
satellite consisting of satellite coordinates, velocity and acceleration vector
components, satellite health information and corrections to GLONASS system
time.
The GLONASS Control Segment consists of the system control center
located in Kranznamensk Space Center about 70 km southwest Moscow. The

30
center is connected with 8 tracking stations distributed across Russia. These
stations are responsible for tracking and monitoring the satellite orbit status,
determining the ephemerides and satellite clock offsets with respect to GLONASS
time, and transmitting this information to the system control center via radio link
once per hour.
Additional information concerning GLONASS is available at the website
http://www.glonass-ianc.rsa.ru/.
With the availability of combined GPS/GLONASS receivers, users have access to a
satellite combined system with over 40 satellites. The use of GLONASS in addition
to GPS can reduce signal acquisition time, improve position and time accuracy,
reduce problems caused by obstructions such as buildings and foliage and
improved spatial distribution of visible satellites, etc.
To determine a position in GPS-only mode, a receiver must track a minimum of
four satellites. In combined GPS/GLONASS mode, the GPS/GLONASS enabled
receiver must track five satellites, at least one of which must be a GLONASS
satellite, so the receiver can determine the GPS/GLONASS time offset.

1.1.7 Galileo
Galileo is the GNSS that is currently being created (not fully operational) by
the European Union and the European Space Agency (ESA). The first two
operational Galileo satellites were launched from Europe's Spaceport in French
Guiana in October 2011. The use of basic (low-precision) Galileo services will be
free and open to everyone. The high-precision capabilities will be available for
paying commercial users. Galileo will start offering services from 2016.
The Galileo Space Segment will consist of 27 operational and three active spare
satellites distributed in 3 orbit planes. The satellites are placed into nominally
circular orbits with target inclinations of 56 degrees, ascending nodes separated
by 120° longitude (9 operational satellites and one active spare per orbital plane),
and a medium-Earth orbit radius of 23,222 km. Each satellite will take about 14
hours to orbit the Earth. Currently 9 Galileo satellite are in orbit and healthy. As of
2012, the system was scheduled to reach full operation in 2020.
Once the constellation is operational, Galileo navigation signals will provide
coverage at all latitudes. From most locations, six to eight satellites will always be
visible. Galileo is intended to provide horizontal and vertical position
measurements within 1-metre precision, and better positioning services at high
latitudes than other GPS and GLONASS systems.

31
 The Galileo Ground Control Segment consists of a network of ground
stations. The ground control centre is located in Oberpfaffenhofen; the ground
mission centre is located in Fucino; 5 tracking stations are located in Kiruna,
Kourou, Noumea, Sainte-Marie, Réunion & Redu; plus there are several uplink
stations, sensor stations and a data dissemination network between stations.
The Galileo User Segment is composed of Galileo receivers. Their main
function is to receive Galileo signals, determine pseudo-ranges (and other
observables), and solve the navigation equations in order to obtain their
coordinates and provide a very accurate time.

1.1.8 Comparison between GPS, GLONASS and Galileo

Table shows a comparison between GPS, GLONASS and Galileo.
Table 3 . Systems comparison: GPS, GLONASS and GALILEO

SYSTEMS GPS GLONASS Galileo

First launch February, October, 1982 December, 2011

Full operational 1978 1996 2020
capability Launch 1995 Baikonur/Plesetsk Kourou (French
site Cape Guiana)
Canaveral
Nominal number of 24 24 27
SV 6 3 3
Orbital planes 55 64.8 56
Orbit inclination 20,180 km 19,140 km 23,222 km
Orbital altitude 60 120 120
Orbit plane 11h 57.96 11h 15.73 min 14h 4.75 min
separation min
Revolution period
Signal separation CDMA FDMA CDMA

Number of 5 - L1 -L5 one per two antipodal 3(4)-

frequencies SV E1,E6,E5(E5a,E5b)

Frequency (MHz) L1: L1: 1598.0625 - E1: 1,575.420

1,575.420 1609.3125 E6: 1,278.750

32
 L2: L2: 1242.9375 - E5: 1,191.795
1,227.600 1251.6875
L3:
1,176.450
L4: 1379.913
L5: 1176.45
Number of ranging 11 6 10
codes

Geodetic reference WGS-84 PZ-90.11 (Earth GTRF

system used Parameters 1990) (International
(Datum) Terrestrial
Reference System
at epoch 2011.0)

Time system GPS time, GLONASS time, UTC(SU) Galileo system

UTC time

1.2 GNSS ERRORS

There are many sources of possible errors that will degrade the accuracy of
positions computed by a GNSS receiver. The errors that can affect the accuracy of
standard GNSS pseudo-range determination, that is, the determination of the
pseudo-range by single satellite discussed above, are summarised in Table Below:

Table 4: Sources of errors of GNSS pseudo-range determination - Error Budget

Contributing Error Error Explanation

Source Range Range
Potential Typical

Satellite 1.5 0meters Errors in the transmitted clock.

clocks meters Small variations in the atomic clocks (clock
drift) on board the satellites can translate to
large position errors; a clock error of 1
nanosecond translates to 3 metrs user error
33
 on the ground.
Orbit errors 2.5 0 meters Errors in the transmitted location of the
(ephemeris meters satellite.
data) Errors in the ephemeris data (the information
about satellite orbits) will also cause errors in
computed positions, because the satellites
were not really where the GNSS receiver
"thought" they were (based on the
information it received) when it computed
the positions.
Ionospheric 5 meters 0.4 Atmospheric effects are the largest source of
delays meters error.
Because of free electrons in the ionosphere,
GNSS signals do not travel at the vacuum
speed of light as they transit this region.
The modulation on the signal is delayed in
proportion to the number of free electrons
encountered and is also (to first order)
proportional to the inverse of the carrier
frequency squared (1/𝑓 squared).
With short baselines, less than ten
kilometers, the effect are almost equal, and
will be canceled out of the solution.
Sunspot activity also causes interference with
GNSS signals.
Delays in ionosphere can be compensated by
using dual frequency receivers.
Tropospheric 0.2meters 0.2meters Another deviation from the vacuum speed of
delays light is caused by the troposphere.
Variations in temperature, pressure, and
humidity all contribute to variations in the
speed of light of radio waves.
Both the code and carrier will have the same
delays.
Delays in troposphere can be only estimated.

34
Receiver 0.3 0.3 Distortion of the signal caused by electrical
noise meters meters interference or errors inherent in the GNSS
receiver itself.
Errors in the receiver's measurement of
range caused by thermal noise, software
accuracy, and inter-channel biases.
Multipath 0.6 0.6 Errors caused by reflected signals entering
meters meters the receiver antenna.
The GNSS signal is a radio wave signal that
can easily be blocked. Mountains, trees,
towers, and buildings are just a few
examples of possible obstructions.
Multipath is the error caused by reflected
signals entering the front end of the
receiver and masking the real correlation
peak.
These effects tend to be more pronounced
in a static receiver near large reflecting
surfaces, where 15 m in or more in ranging
error can be found in extreme cases.
If obstructions are present, it is important
to note the azimuth and elevation above
the horizon of these structures, and then
account for these in GNSS mission
planning. Also, some structures that are
obstructions in one direction can also be
35
 sources of multipath in another direction.
Beware of other sources of multipath.

Total ~ 15 ~ 10 GTRF (International Terrestrial Reference

meters meters System at epoch 2011.0)

Geometry of Errors are cumulative and increased by PDOP

satellite (Positional Dilution of Precision).
positions

Selective > 50 Selective Availability, or SA, occurred when

Availability meters the DoD intentionally degraded the accuracy
of GNSS signals by introducing artificial clock
and ephemeris errors. When SA was
implemented, it was the largest component
of GNSS error, causing error of up to 100
meters. SA is a component of the Standard
Positioning Service (SPS), which was formally
implemented on March 25, 1990, and was
intended to protect national defense. SA was
turned off on May 1, 2000.

36
However, the degree with which the above pseudo-range errors affect positioning
accuracy depends largely on the geometry of the satellites’ arrangement being
used.
The quality of satellite geometry arrangement can be defined by Dilution of
Precision (DOP) parameters. DOP is a numerical definition of satellite geometry,
and it is dependent on the locations of satellites that are visible to the receiver.
The smaller the value of DOP, the more precise the result of the time or position
calculation. The relationship is shown in the following formula: 𝐼𝑛𝑎𝑐𝑐𝑢𝑟𝑎𝑐𝑦 𝑜𝑓
𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 = 𝐷𝑂𝑃 𝑥 𝐼𝑛𝑎𝑐𝑐𝑢𝑟𝑎𝑐𝑦 𝑜𝑓 𝑅𝑎𝑛𝑔𝑒 𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡
So, if DOP is very high, the inaccuracy of the position measurement will be much
larger than the inaccuracy of the range measurement.
There are five distinct kinds of DOP:
- GDOP - Geometric Dilution of Precision.
- PDOP - Position Dilution of Precision (most commonly used).
- HDOP - Horizontal Dilution of Precision.
- VDOP - Vertical Dilution of Precision.
- TDOP - Time Dilution of Precision.

GDOP refers to where the satellites are in relation to one another, and is a
measure of the quality of the satellite configuration. It can magnify or lessen
other GNSS errors. In general, the wider the angle between satellites, the better
the measurement. If satellites spaced widely across the sky, a receiver can get a
more accurate determination of its position by trilateration than if they are
“clumped” together. Most GNSS receivers may select the satellite constellation
that will give the least uncertainty, the best satellite geometry.
PDOP refers to horizontal (HDOP) and vertical (VDOP) measurements (latitude,
longitude and altitude). The quality of the satellite configuration can be checked
on a receiver screen by looking at the PDOP value. A low DOP indicates a higher
probability of accuracy, and a high DOP indicates a lower probability of accuracy.
PDOP values are:
1 - theoretically ideal
1-4 - very good
5-8 - acceptable
>9 - poor

37
Another quality measurement of satellite arrangements is TDOP, or Time Dilution
of Precision. TDOP refers to satellite clock offset. A parameter known as the PDOP
mask can be set on a GNSS receiver. This will cause the receiver to ignore satellite
configurations that have a PDOP higher than the specified limit.
These five DOPS are mathematically related. In some cases, for example when
satellites are low in the sky, HDOP is low and it will therefore be possible to get a
good to excellent determination of horizontal position (latitude and longitude),
but VDOP may only be adequate for a moderate altitude determination. Similarly,
when satellites are clustered high in the sky, VDOP is better than HDOP.
In the Figure 35A, the effect of DOP is illustrated. It is difficult to determine where
the ranges intersect. Position is “spread” over the area of range intersections, an
area which is enlarged by range inaccuracies (which can be viewed as a
“thickening” of the range lines). As shown in Figure 35B, the addition of a range
measurement to a satellite that is angularly separated from the satellite cluster
allows a receiver to determine a position more precisely.

Figure11. Dilution of precision: poor satellite geometry and improved geometry

38
 DOP can be used as the basis for selecting the satellites on which the
position solution will be based to minimize DOP and increase GNSS
measurement’s accuracy. DOP varies with time of day and geographic location
but, for a fixed position, the geometric presentation of the satellites repeats every
day, for GNSS. DOP can be calculated without determining the range only the
satellite positions and the approximate receiver location are needed. Thus, GNSS
mission planning software, which can read the satellite almanac, can be used to
plan a date and time for GNSS fieldwork in order to obtain good DOP during the
ground surveying.

In Canada and in other countries at high latitude, GNSS satellites are lower in the
sky, and achieving optimal DOP for some applications, particularly where good
VDOP is required, is sometimes a challenge. This challenge is being reduced with
more GNSS constellations and satellites coming on line every year.

1.3 TYPES OF GNSS POSITIONING

The “standard” technique of measurements with GNSS provides positional
accuracy of 10-15 meters. However, there are techniques to reduce GNSS errors
and get GNSS measurements with accuracy of a few centimetres. Thus, for
example, accuracy of GNSS receivers with the use of particular techniques can be
classified as:
- Recreational grade GNSS receivers - 10-15 m of horizontal positional
accuracy
- Use of autonomous Code Phase positioning technique
- Use of C/A code
- Mapping grade GNSS receivers - 1-5 m of horizontal positional accuracy
- Use of C/A code with Code Phase positioning
- Use of differential correction in real-time or/and post-processing
- Sub-meter mapping grade GNSS receivers - 10 cm to 1 m of horizontal
positional accuracy
- Use of C/A code and Carrier Phase positioning
- Use of differential correction in real-time or/and post-processing
- Survey grade GNSS receivers - 1 cm of horizontal positional accuracy
- Use of P-code or dual frequency positioning
- Use of Carrier Phase positioning and advanced survey methods
39
The following discussion describes the listed techniques. The increased accuracy
comes at a price of using more expensive equipment, more advanced techniques
and more time spent on field work surveying.

1.3.1 Code Phase Positioning

As we have discussed above a GNSS receiver calculates its position by a
technique called satellite ranging, which involves measuring the distance between
the GNSS receiver and at least three GNSS satellites it is tracking. The range (the
range a receiver calculates is actually a pseudo-range, or an estimate of range
rather than a true range) or distance, is measured as elapsed transit time.

A range/distance to each satellite can be calculate from the following formula:

𝐷 = 𝑐 ∗ 𝑇+𝑒𝑟𝑟𝑜𝑟𝑠, where 𝑐 is the speed of light (299,792,458 m / s in a vacuum), 𝑇
is a propagation time that is a difference between time when signal reached
receiver and time when signal left satellite.
In order to measure the travel time 𝑇 of the satellite signal, the receiver has to
know when the signal left the satellite and when the signal reached the receiver.
Knowing when the signal reaches the receiver is easy, the GNSS receiver just uses
its internal clock to measure when the signal arrives to see what time it is. But
how does a receiver "know" when the signal left the satellite? All GNSS receivers
are synchronized with the satellites by using ephemeris so they generate the
same PRN code at the same time. The amount of delay is the transit time.

40
Figure 12: Determining Time of Propagation

Once the receiver has three or more distance measurements, it is basically

a problem of trigonometry (trilateration) to determine a receiver coordinates.

1.3.2 Differential corrections and SBAS

Integrating external information into the GNSS-coordinators calculation
process can materially improve accuracy. For this purpose networks of
augmentation systems are developed. Such augmentation systems are generally
named or described based on how the external information arrives to improve
accuracy GNSS measurements through differential correction.
Some systems transmit additional error information (such as clock drift,
ephemera, or ionospheric delay), others characterize prior errors, while a third
group provides additional navigational or vehicle information. Examples of
augmentation systems include the International GNSS Service (IGS), US
Nationwide Differential GPS System (NDGPS), Wide Area Augmentation System
(WAAS), European Geostationary Navigation Overlay Service (EGNOS), OmniSTAR
etc. See more at http://www.gps.gov/systems/augmentations/.
Differential correction reduces the effects of some GNSS errors. The main
principle of differential correction is to use GNSS receiver “base station” on the
ground with known location as a fixed static reference point. The position of a
base station is determined to a high degree of accuracy using GPSS and
conventional surveying techniques.

41
In particular point of time, the base station measures ranges to GNSS satellites.
Since the base station "knows" where it is with high accuracy, it can compute the
errors in its position calculations (or timing errors). Then corrections for the errors
can be sent to any number of roving receivers (rovers) in the same general area.
These rovers incorporate the corrections into their position calculations (Figure ).
This requires that the base and rover receivers "see" the same set of satellites at
the same time.
The incorporation of corrections is based on the following assumption: since GNSS
satellites orbit high above the earth, the propagation paths from the satellites to
the base stations and rovers pass through similar atmospheric conditions, as long
as the base station and rovers are not too far apart.

Figure 13: Principle differential corrections with real-time Differential GNSS

Differential real-time positioning requires a data link between base stations
and rovers if corrections need to be applied in real-time, and at least four GNSS
satellites in view at both the base station and the rovers. The absolute accuracy of
the rover's computed position will depend on the absolute accuracy of the base
station's position and separation between base station and rover positions
(baseline). The base station can usually serve users in an area with up to 500
kilometers radius of baseline. However, differential GNSS works with better
accuracy if with base-station-to-rover separations of up to 20 kilometers.
42
The base station, depending upon how it is configured, can correct roving GNSS
receiver data in one (or both) of two ways:
- In real-time differential correction or real-time differential GNSS (DGNSS),
the base station transmits error correction messages to GNSS receivers
located in the field and corrections is performed in real-time by using GNSS
differential correction software. Real-time correction can be implemented
based on:
- Local ground-based or terrestrial radio-beacon base stations with BoB
(Beacon-on-Belt) receivers. For example, the Nationwide Differential GPS
(NDGPS) radio-beacons stations’ network is a terrestrial augmentation
system, which is used for real-time or post-processed differential
corrections.
- Satellite-based augmentation system (SBAS). For example Wide Area
Augmentation System (WAAS) and OmniSTAR communication satellites is
used for real-time differential corrections.
- A post-processed differential correction is implemented in the office after
GNSS data are collected. Thus a file with differential correction errors can
be download from a base station via network (e.g., Internet) and applied to
the field GNSS measurements on a computer by using differential
correction software. The base station file contains information about the
timing errors. Since the base station and rover receivers have to "see" the
same set of satellites at the same time, the base file has to start before the
rover file starts, and end after the rover file ends (a base station is normally
set up to track all satellites in view, insuring that it will "see" at least the
four satellites that the roving receiver is using to compute positions). Now
GNSS differential correction services are available wirelessly through
mobile devices.

Differential correction files are disseminated in specific formats. One of most

widely used formats is Receiver Independent Exchange (RINEX) format, which
supports conversion of position data.
Blended mode – a user uses real-time and post processed techniques.

As it is shown above, there are ground based augmentation systems (GBAS)

and satellite based augmentation system (SBAS). For applications where the cost
of a ground differential GNSS system is not justified, or if the rover stations are

43
spread over too large an area, a Satellite-Based Augmentation System (SBAS)
may be more appropriate for enhancing position accuracy. SBAS systems are
geosynchronous satellite systems that provide differential correction services for
improving the accuracy, integrity, and availability of basic GNSS signals.
A geosynchronous orbit has an orbital period matching the Earth’s sidereal
rotation period. This synchronization means that for an observer at a fixed
location on Earth, a satellite in a geosynchronous orbit returns to exactly the
same place in the sky at exactly the same time each day. The term geostationary
is used to refer to the special case of a geosynchronous orbit that is circular (or
nearly circular) and at zero (or nearly zero) inclination, that is, directly above the
equator. Satellites in geostationary orbits appear stationary at one location at all
times.
SBAS systems include reference base stations, master stations, uplink stations and
geosynchronous SBAS satellites (Figure

Figure 14: GNSS-SBAS data gathering and correction broadcast

Reference base stations, which are geographically distributed throughout

the SBAS service area, receive GNSS signals and forward them to the master
station. Since the locations of the reference base stations are accurately known,
the master station can accurately calculate wide-area corrections. Corrections are
44
uplinked to the SBAS satellite(s), and then broadcast to GNSS receivers
throughout the SBAS coverage area (Figure 38). User equipment receives the
corrections and applies them to range calculations.
Several countries have implemented their own satellite-based augmentation
systems. Europe has the European Geostationary Navigation Overlay Service
(EGNOS) which covers the EU and possibly beyond (http://egnos-
portal.gsa.europa.eu/discover-egnos/about-egnos). EGNOS provides both
correction and integrity information about the GNSS system, delivering
opportunities for Europeans to use the more accurate positioning data for
improving existing services or developing a wide range of new services.

The USA has its Wide Area Augmentation System (WAAS). Thus, with Selective
Availability set to zero, and under ideal conditions, a GNSS receiver without WAAS
can achieve 10-15 meter accuracy most of the time. Under ideal conditions, a
WAAS equipped GNSS receiver can achieve less than three-meter accuracy 95% of
the time.
CDGPS is currently offered throughout Canada, most of the continental United
States, and much of the Arctic. Japan is covered by its Multi-functional Satellite
Augmentation System (MSAS). India has launched its own SBAS programme
named GNSS and GEO Augmented Navigation (GAGAN) to cover the Indian
subcontinent. Both Korea (2013) and China (2014) have announced plans to start
their own SBAS implementation.
Some companies, such as OmniSTAR (provide worldwide services including
Europe, Middle East, Russia and CIS) and RACAL provide differential corrections in
real-time via their own communication satellite systems. A special satellite
receiver as well as the payable subscription are necessary to receive their signals.
SBAS services can be free (e.g., WAAS, EGNOS) and commercial (e.g., OmniSTAR,
VERIPOS). In general, free government-provided SBAS services use the same
frequency as GPS/GLONASS, and commercial SBAS services use a different
frequency. In this case, additional equipment may be required to use SBAS
differential corrections.
GNSS instruments from some companies offer an integration of GPS/GLONAS
receiver with SBAS correction receiver within one rover. For example, in North
America, many receivers are now WAAS compatible.
Differential correction can be attributed to satellite ephemeris and clock errors,
but mostly to errors associated with atmospheric delay. Differential correction
45
cannot correct for multipath or receiver error; it counteracts only the errors that
are common to both base station and roving receivers. For example, GNSS error
budget with standard (without differential correction) vs. with differential
correction is shown in the following table 5:

Table 5: Typical Error in

Meters (per Satellite)
Error Standard GNSS Differential GNSS

Satellite Clocks 1.5 0

Orbit Errors 2.5 0

Ionosphere 5 0.4

Troposphere 0.5 0.2

Receiver Noise 0.3 0.3

Multipath 0.6 0.6

SA 30 0

Typical Position Accuracy

Horizontal 50 1.3

Vertical 78 2

3-D 93 2.8

46
1.3.3 Carrier Phase Positioning
For applications such as cadastral surveying, higher accuracies are required
than cannot be achieved from code phase positioning techniques even with
differential corrections. Higher accuracies can be achieved by using carrier phase
positioning techniques. Carrier phase receivers typically provide up to a few
centimeters position accuracy with differential correction. Carrier phase
positioning can only be used with a differential system, and only works to about
30 km from the base station.
The carrier phase processing technique gathers data via a carrier phase receiver,
which uses the carrier signal to calculate positions. The carrier signal, which has a
much higher frequency than the pseudo-random code, is more accurate (typically,
about two orders of magnitude) than using the pseudo-random code alone. Thus,
carrier wavelengths (19 cm for L1) are much shorter than the C/A code length
(293 m modulated in L1) and consequently potentially can be measured more
accurately and used to achieve much higher positional accuracies than code
measurements. The pseudo-random code with differential correction narrows the
reference then the carrier code narrows the reference even more. After
differential correction, the carrier phase processing technique results in
centimeter accuracy.
Thus, the carrier frequency 𝜈 is multiplied by the vacuum speed of light 𝑐
gives the wavelength 𝜆, e.g., 19 cm for L1. In this case, accuracy detection of
pseudo-range 𝐷 is within 1% of wavelength and error is as little as 2 millimeters.
This compares to 3 meters for the C/A code and 0.3 meters for the P code. 𝜆= 𝑐/ 𝜈
However, 2 millimeter accuracy requires measuring the total phase - the number
of waves (or full carrier cycles) multiplied by the wavelength plus the fractional
wavelength (or cycle). This requires specially equipped receivers. At a very basic
conceptual level, carrier phase receivers measure the distance from the receiver
to the satellites by counting the number of carrier waves (and even portions of
waves) of the L1 and/or the L2 signal between the satellite and the rover station,
then multiplying this number by the carrier wavelength.
There is, however, one problem. The carriers are just pure sinusoidal waves: all
cycles look the same. A GPS receiver cannot differentiate one cycle of wave from
another. The receiver, when it is switched on, cannot directly determine the total
number of complete cycles between sattelite and the receiver. It can only
measure a fraction of a cycle very accurately (as little as 2 millimeters), while the
initial number of complete cycles remains unknown or ambiguous. This is known
as the initial cycle ambiguity. Fortunately, the receiver has the capability to keep
47
track of the phase changes after being switch on. This means that the initial cycle
ambiguity remains unchanged over time (El-Rabbany, 2002).
A complicated process called “ambiguity” resolution is needed to determine the
number of whole waves. If the initail cycle ambiguity paraemters are resolve,
accurate range meuremnts can be obtained.
A GNSS receiver which records the carrier phase, measures the fraction of one
wavelength (i.e. fraction of 19 cm for the L1 GPS carrier and 24 cm for the L2 GPS
carrier) when the receiver first locks onto a satellite and continuously measures
the carrier phase from that time. The number of cycles/waves between the
satellite and receiver at initial start-up (the ambiguity and the measured carrier
phase together represent the satellite-receiver range (i.e. the distance between a
satellite and a receiver) and can be represented as 𝐷= Φ−(𝜆∗𝑁 + 𝑒)
Where 𝐷 is the pseudo-range observation, Φ is the carrier phase observation (in
length units), 𝜆 is the carrier wavelength, 𝑁 is the integer carrier phase ambiguity,
𝑒 is errors (range errors due to satellite and receiver clocks’ errors, ionospheric
and tropospheric refractions) (Wells et al. 1987).
The ambiguity is the unknown integer number of times the carrier wave length at
initial start-up. Such ambiguity can be fixed mathematically to get the carrier
phase measurements at the accurate level of a few centimetres. Resolution of
integer ambiguity requires sophisticated statistical software, access to multiple
satellites, and that receivers record the full-wavelength carrier phase and signals
of two or more frequencies (e.g., C/A codes from L1 and L2). A rover determines
its position using algorithms that incorporate ambiguity resolution and differential
correction.

To boosts the GNSS accuracy, dual-frequency techniques should be used.

Dual-frequency receivers are capable of providing sub-centimetre GNSS position
accuracy with differential correction. Dual-frequency receivers receive signals
from the satellites on two frequencies simultaneously. For example, when
combined with L1 C/A in a dual-frequency receiver, the new L2C-code enables
ionospheric correction, a technique that increases accuracy. Civilians with dual-
frequency GNSS receivers enjoy the same accuracy as the military (or better).
Requirements for survey-grade GNSS receivers are that they record the full-
wavelength carrier phase and signal strength of the L1 and L2 frequencies, and
they track at least eight satellites simultaneously on parallel channels.

48
The electronics to carry out carrier phase positioning are much more
sophisticated and precise than those used for code phase positioning. Unlike code
phase positioning, carrier phase positioning must use an analogue radio receiver,
which cannot be placed on a chip like inexpensive carrier phase receivers.
The carrier phase receivers are much more accurate than C/A code phase
receivers, but require strict data collection requirements and more post-
processing. Thus, occupation times on rover stations can be 30 minutes and more.
A GNSS receiver has a configuration option to set carrier occupation time, as soon
as it is achieved the receiver stores the collected rover file with GNSS data, and
then the data can be differentially corrected with carrier phase processing (Figure
). A new rover file must be created for each subsequent carrier session. Although
it is more difficult to gather carrier code data than solely PRN code, accuracy is
increased.

Figure 14: The carrier phase positioning: the range is calculated by determining
the number of carrier cycles between the satellite and the rover station, then
multiplying this number by the carrier wavelength.

49
 Carrier phase receivers (survey grade) require a clear view to the satellites
in order to maintain a constant lock with at least 4 satellites, while C/A code
receivers (mapping grade) do not need to maintain a constant lock with the
satellites to calculate positions. This makes a C/A code receiver imperative to
gathering data in adverse conditions (for example, under trees).
There are several field surveying methods for using carrier phase GNSS
observations. Among them are static, rapid static and kinematic techniques.
These field positioning methods can use carrier phase signals and PRN signals
from GPS or/and GLONAS, and plus differential correction techniques.
Conventional static GNSS surveying was the first method used in the field and it
continues to be the primary technique used today. Static GNSS surveying requires
collecting data from the same satellites simultaneously between stationary
receivers (base stations) for an extended period of time, usually from 1 hour to 4
hours, depending on baseline length. Using this method requires the design of a
GNSS network and an observation schedule for the coordination of receivers. The
range of accuracy using conventional static GNSS varies depending on the
observing and processing procedures followed, the baseline lengths measured
and the receivers/antennas used, the accuracy of the differential corrections,
among other variables (e.g., site and time selection, the quality of the base station
etc.). For very precise applications, specialised software with processing
techniques should be employed to handle errors. Using such techniques,
accuracies of less than 1 cm can be achieved for baselines of up to 600 km in
length depending on satellite geometry.

Fast static is a procedure that uses very short occupation times - minutes
instead of hours of observations. Unlike static methods, which sometimes require
multiple occupation sessions to build redundancy into the network, rapid-static
stations need to be occupied only once. The technique relies on specific
processing algorithms and additional information such as P-code observations or
redundant satellites (e.g. seven or eight satellites instead of the minimum four). In
addition, rapid static surveys should be conducted over short baselines (e.g. less
than 10 km) to achieve the few centimetre level accuracy.
The main limitations of carrier code techniques are as follows:
- Need to support limited range with respect to the base location.
50
 - The need of a communication channel for real time applications.
- Some convergence time is needed to fix the phase ambiguities. This time
depends on the processing algorithm and the distance between base and
rover.
- In order to avoid re-initialization of the processing, the rover has to track
the GNSS signals continuously.

Real Time Kinematic

GNSS positioning may also be categorized as static or kinematic. In static
positioning, a GNSS receiver is required to be stationary whereas in kinematic
positioning a receiver collects GNSS data while continuously moving. Kinematic
techniques are sometimes referred to as continuous kinematic or pure kinematic
techniques. This differentiates kinematic from semi-kinematic techniques, which
require stops at points to be positioned (USGS Global Positioning Application and
Practice, 2015).
The Real Time Kinematic (RTK) approach, originated in the mid-1990s, involves
using at least one stationary reference receiver (e.g., base station) and at least
one moving rover (or several receivers), in addition a communication channel
between base station and rover is required. The technique is based on the use of
carrier measurements and the transmission of corrections from the base station
to the rover, so that the differential errors cancel out. This allows for real-time
surveying in the field and allows the surveyor to check the quality of the
measurements without having to process the data. If a RTK base station covers a
service area spreading about 10 or 20 kilometers, then RTK surveying achieves
performances in the range of a few centimeters. A DOP above 6 results in
generally unacceptable accuracies for DGPS and RTK operations.
There is also Post-Processed Kinematic (PPK) techniques. PPK surveys are similar
to RTK procedures, but the baselines are not processed in real-time.

PPK involves using one or more roving receivers and at least one static base
station. GNSS data are simultaneously collected at the reference and rover
receivers. The data are downloaded from the receiver, and the baselines
processed using GNSS software.

Table 6: Positional accuracies of static and kinematic Carrier Phase techniques

51
Positioning Mode Typical Horizontal Maximum Operating
Accuracy Range
(5 Satellite’s visibilities,
PDOP<4)

Static Horizontal: 5mm + 1 ppm Several 100 km

(part-per-million) depending on satellite
Vertical: 10 mm + 1 ppm geometry

Real-time Kinematic Horizontal 1 cm + 2 ppm Recommended: <10 km

Vertical: 2 cm + 2 ppm Maximum: 40 km
Usually dependent on
communication link

When choosing between a kinematic and a static methodology, the GNSS

surveyor basically is making a choice between productivity and accuracy. The
kinematic techniques can produce the largest number of GNSS points in the least
amount of time; however, because of the shortened occupation times and less
data to resolve integer ambiguity, there is a slight degradation in the accuracy of
the work.

52
 Chapter Two

FIELD OBSERVATION AND PROCESSING -

2.1 Planning of GPS observation - Before starting a GPS Survey Campaign,
the following points should be kept in mind.
Office planning:-
- a satellite sky plot or visibility chart should be prepared for each site.
- Observation time is decided when the satellite visibility is maximum and PDOP
is minimum.
Selection of site:- The possible location of GPS control points to be established are
selected on map.
Starting and closing GT station are also selected. While selecting the station the
following points should be kept in mind:
- Distance between two stations should not be large and should be kept within
50km. As far as possible.
- Since inter-visibility between the stations is not required, the station with easier
approach should be selected for speed and economy.
- A 15degree clearance from horizon to sky should be available. Where 15 degree
clearance is not possible due to fixed location of points, GPS mission planning
should be done in the office to select the right time of observation, to ensure
maximum satellite visibility.
- No radio signal transmitter should be operational in the vicinity of the GPS point.
- The point selected should be such that it is not likely to be destroyed due to
human activities like construction etc. In case the requirement of control points is
of the temporary nature like for model control etc. few points at sufficient density
should be selected which can be used as permanent control points for mapping and
these should be constructed as per standard of GT station.
- Stations near H. T. power lines should be avoided.

2.2 Field planning and Procedure - The GPS observation will yield
coordinates of the survey stations in the World Geodetic System WGS-84, which is
a geocentric datum. These coordinates are not very precise and accurate due to
effects of Selective Availability (SA) and Anti-spoofing (AS).
However for precise work, GPS can be very effectively used in static relative mode
(translocation mode), by using two or more receivers observing simultaneously at
different locations. In this mode due to cancellation of major part of SA & AS
effect the base lines can be estimated very accurately. This is the method being
employed for all geodetic and topographical surveying with GPS in Survey of
Nigeria.
53
The basic observable in the planimetric GPS observation is the base line vector
between stations. If the co-ordinates are required in WGS-84 datum we need do
much computation work. But,to derive the coordinates on Indian Geodetic Datum
– the Everest Ellipsoid, the observations are started and closed on existing
Geodetic Stations of the Great Trigonometrical (GT) triangulation network,
whose coordinates on the Everest Ellipsoid are known.
The distances observed with GPS observation (after data processing we get slope
distance) are projected on the Everest Ellipsoid using computed ellipsoidal
heights and final network adjustment is carried out using the coordinates of known
stations and the GPS derived base line vectors projected on Everest ellipsoid. For
computation of height Bench Marks of existing H.P. / Precision /Secondary or
tertiary levelling are connected with GPS network at regular interval.
In case of vertical control, the basic observable is the MSL heights (orthometric
heights) derived from ellipsoidal heights obtained from GPS observation, by
applying Geoid – Ellipsoid separation (N). By using known MSL height of BM,
and these height differences, the heights of GPS stations are derived.
Observation Procedure - The procedure to be followed for GPS observations will
be depend on the type of GPS receiver being used and the accuracy required.
Mainly two types of GPS receiver have been used in Survey of India. Single
frequency receivers are used to measure baselines not more than 10 Km for
Topographical Surveys generally.. For longer baselines double frequency receivers
are used.
The longer the baselines the longer the observation sessions are required.
Obtaining a greater number of satellite during a session increases the strength of
baseline. A session requiring 1 hour with 4 satellites might require only 45 minutes
with 6 satellites. Experiences will be the best judge of the observation session
length. However, following table may be considered for the planning of
baseline measurements.

Table 7: planning of baseline measurements

SNO BASELINE LENGHT NO OF TIME OF
SATELLITE OBSERVATIONS
1 1 TO 10Kilometer 6 45minutes
4 60minutes
3 2hours

2 10-20kilometer 6 50minutes
4 90 minutes
54
 3 2hours 30mins

3 More than 20kms 6 1hour 30mins

4 2hours
3 3hours

(Note :- Technical instructions issued by the office from time to time for specific
jobs must be followed in place of the table given above.)
For providing Primary Geodetic Control work bases for framework the bases must
be observed for 6 hours in case of 25 to 30 Kms but for longer length of bases 12
Hours observation is required.
The recording interval should be 30 seconds.
For special type of surveys like Crustal movement studies and for long base lines
of hundreds of kilometers, long observations are required. In G&RB Survey of
India for such type of work 24/48/72 hours observations are carried out according
to the length of baselines.
A site chart containing a description of the site, sketch of site, weather data and any
other information relevant to the observations is prepared at the time of taking the
observations.

2.3 Data Downloading and Processing

After the receiver have collected the field data, the receivers are connected
to the computer using a data downloading cable (RS232) and the data is
downloaded into the computer for post processing with the help of downloading
software provided with each instrument.
After downloading, the data processing is done with the help of different software
supplied with the different receivers e.g.
Ashtech – Processing and downloading software - Prism and GPPS
Leica - Processing and downloading software – SKI
Trimble - Processing and downloading software – GPSurvey and TGO
WM102/101 - Processing and downloading software - Pops
There is scientific software developed by university of Berne named BERNES is
the best among the above. BERNES software can process data collected by any
receiver, it is more powerful, scientific and gives more precise results. Latest 5.0
version of Bernese software is now available in the market which is windows
based. The previous version 4.2 was DOS based.
55
In BERNES software additional information can be used which can not be used
with other software.
For example to achieve higher accuracy the following files can be downloaded
from internet and can be used during processing.
POLE file or ERP file – contain the Earth Rotation Parameters.
PHASIGS file – contain the different receivers and antenna pair parameters.
For processing in BERNES we need data in RINEX format.

What is RINEX format?

RINEX stands for RECEIVER INDEPENDENT EXCHANGE
Each receiver type has its own binary data format. As a consequence, data of
different receiver type can not easily be processed simultaneously with one
particular GPS data processing software package.
To solve this problem, either all manufacturer has to use the same data output
format, or a common data format has to be defined that can be used as a data
interface between all geodetic receiver type and different processing software
system.
Based on development at the University of Berne the Receiver Independent
Exchange format was proposed by Grutner at the fifth international geodetic
symposium on satellite positioning. RINEX has been accepted by international
user community and by the community of the receiver manufacturers. For most of
the geodetic receivers the translator software is provided by the manufacturer that
converts the receiver dependent data into RINEX format. On the other hand, all
major data processing software requires RINEX data as input like BERNES
software. RINEX hence serve a general interface between receivers and
multipurpose data processing software.

RINEX format consists of 3 ASCII files

1. Observation data file – contain header information and phase and range data.
2. Navigation file - contain ephemeris data
3. Meteorological file - contain Meteorological data
The file names are as follows-
00010731.02o / n / m that is

0001 stands for point ID No.

073 stands for Julian day
1 stands for session No.
02 stands for year
56
o stands for observation / n for navigation etc.

STEPS OF COMPUTATIONS TO GET COORDINATES ON ELLIPSOID

OF INTEREST -
After processing we get the following results-
- Latitude, Longitude and ellipsoidal height of stations with respect to WGS-84
datum.
- Slope distance or baseline vector between the stations.
- X, Y, Z coordinates with respect to ECEF system.
- Azimuth of the baseline vector.
The coordinates obtained after processing are on WGS-84 reference. Survey of
India use only baseline vectors. The adjustment carried out to get the co-ordinates
on the ellipsoid chosen (Everest etc.). When baseline are used to adjust the network
taking one station fixed with known azimuth or two fixed stations. If the vectors
are used for the subsequent surveys where GPS observations are not feasible, the
baselines observed by GPS must be reduced to the ellipsoidal distances to be used
for further traverse or triangulation
i.Height Adjustment - As we need ellipsoidal height of the stations for reducing
slope distances on the Everest ellipsoid, first of all the height adjustment is to be
carried out.
Data required for height adjustment:-
θh the ellipsoidal height difference of each baseline vector obtained from E-Height
(above WGS-84) of stations.
- Baseline length of all measured baselines in km.
- N the Geoidal undulation or separation between Geoid and ellipsoid used
(WGS84, Everest etc.).
- Height of at least one Bench Mark above MSL which is connected with GPS
network.

57
How the orthometric heights of stations deduced from known BM height ?

Let the Orthometric of BM = H

Ellipsoidal Height of BM above WGS-84 = h1
Ellipsoidal Height of Station A above WGS-84 = h2
E - Height difference Between BM and Station A= h2 -
Height difference)
Geoidal Undulation at BM = N1 (Between Geoid and Everest Ellipsoid)
Geoidal Undulation at Station A = N2 (Between Geoid and Everest Ellipsoid)
Ellipsoidal Height of BM above Ellipsoid = H - N1 = h (say)

Orthometric Height of Station A = = hA + N2 = HA (say)

Similarly one can find the orthometric height if geoidal undulation model for
WGS-84 is known.
The EGM96 is the available geoid model and gives the accuracy of height within
2m.

ii. Reduction of Slope Distances on Ellipsoid -

58
 For reducing slope distances on Everest Ellipsoid Program SLARC is used.
The following input data is required-
- Observed Slope distances
- Height of stations (if orthometric then value of N also)
- Latitude of stations
- Azimuth of each baseline

iii. Adjustment of Network -

To adjust the complete network, the program SOITAP is used which is
based on variation of coordinate method. The input data required for the program
is
- Reduced distances on ellipsoid used
- Provisional coordinates of each station
- Geodetic coordinates of known stations (if only one station is known, then
azimuth of a baseline connected to the known station is also required).

iv. Computation of Latitude and Longitude -

Step 1 :- First of all the heights of all the points adjusted as per triangulation -
- Find dh of all observed vectors. (dh = hA - hB )
- Make an observation chart and calculate height misclosure of each triangle in the
network.
- If there is any discrepancy adjust it as proportional to vector distance.

59
- Compiled geoidal undulation (N) of each station from the geoidal undulation
chart. This chart is available in 19 party (G&RB) and they supply value of N on the
basis of Latitude and Longitude of the stations.
- Convert the orthometric height of known station to ellipsoidal height above
ellipsoid used by using the formula h =H + N.
- On adding the adjusted dh with h we can get the ellipsoidal height of each station.
- The ellipsoidal height is used for reducing the slope distance to arc distance in the
next step.
- Find orthometric height of each station using the formula H = h – N.

Step 2 :- Reduction of observed slope distances on ellipsoid -

Reductions of a spatial distance on Ellipsoid:-

The following formula can be used to reduced slope distances in to arc distances is

Arc distance S0= X + Y

l – Slope distance between station A and B
hA – Ellipsoidal height of station A
hB – Ellipsoidal height of station B
dh = hA ~ hB
R = Mean radius of curvature of Earth for the section AB.

60
 -e2) / (1-
- f curvature of Prime Vertical section.

are not available then the WGS-84 coordinates can be used.

Everest Ellipsoid :
a = 6377301.243 =Semi major axis
b =6356100.231 = Semi minor axis
e2 = (a2 – b2) / a2 = 0.00663784607

WGS84 Ellipsoid :
a = 6378137.0 metre =Semi major axis
b = 6356752.3142 metre = Semi minor axis
e2 = (a2 – b2) / a2 = 0.00669438000

Step3 :- Computation of angles -

The angles of each triangle are computed using the formula

Where a, b, c are the sides of the triangle.

Step 4 :- Computation of Latitude and Longitude -

To find out the coordinates of unknown stations we must have
- Geodetic coordinates of one station.
- Geodetic azimuth of one base line connected to the known station.
OR
- Geodetic coordinates of two stations.
Survey of India use Clark‘s formula for precise determination of latitude and
longitude. It gives 1ppm accuracy up to 150km. Whereas mid latitude formula for
topo. Triangulation gives 8ppm up to 40km. The formula given below is used in
Survey of India 13A Trian form.

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Meaning of notations:-
S = distance between station A and B
A = Azimuth at A of B

vature of meridian section.

FIELD OBSERVATIONAL PROCESS

i. Mission Planning -
Planning is a powerful stand-alone software tool supporting any form of analysis
of visibility for GPS satellites.
We use the TGO Planning Software before commencing the GPS observation.
- To define parameters for stations (location, time span and time zone,
obstructions)
- To display visibility & GDOP (Geometrical Dilution of Precision) of
satellite graphically.
- Click on All program - Trimble Office – Utilities – Planning
- Click on Station or Multistation editor tool and fill up all the information
approximately read by map as like Latitude, longitude, Height of the station,
Cutoff angle, starting date, time, duration and time zone. Cutoff Angle
should be taken as 30° in the valley for above purpose.
- Click on Station or Multistation – obstacles, to make curtains according to
sky obstruction on the station.
- Download the current Almanac file from receiver.
- Click on Almanac – Import – Trimble, Select destination path of Almanac
File.
- Click on Graph – No. of Satellites, for satellite visibility.
- Click on Graph – DOP – Dop Geometrical, for GDOP.
The time of observation will be selected in such a manner that maximum number
of satellites is visible and GDOP is less than 5.

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ii. Duration of observation -
At the main 4 station which is taken as fixed control for network adjustment
will be observed in one session for 24 hours at 15second epoch interval. Other all
control points will be observed for 6 to 8 hours at 15 second epoch interval in such
a way that every new session will be occupied one common baseline and not in a
leap frog method. Height of Antenna will be measured correctly up to millimeter
level. Confidence in our surveying results depend upon sufficient redundancy of
measurements. Redundancy means number of observables should be more than the
number of unknowns, and is essentially required for any proper adjustment
process.
Observe as many different independent baselines as possible; it strengthens the
adjustment and our confidence too.
We should be preparing a LOG SHEET for each station with following
information:
i. Date of observation
ii. Julian Day
iii. Station ID Number
iv. Name of Station
v. Receiver No.
vi. Antenna No.
vii. Starting time
viii. Closing Time
ix. Height of Antenna
x. Description of station with sketch
xi. Name of the Observer with signature.

iii. Downloading the GPS Data from Trimble Receiver -

At the end of day when observation is complete, GPS data must be downloaded in
the Laptop with proper management of directory structure etc and a backup copy
of the data must be retained before the deletion of the data from the receiver. For
downloading the GPS data from receiver to Laptop, we will use the Trimble Data
Transfer software as follows:
- Connect the GPS receiver to the Laptop by USB / RS-232 cable and Switch
ON the receiver.
- Make a specific folder and subfolder for storing the raw data at the time of
downloading.
Generally it is created in the name of Julian Day or date of observation.
- Click on the All programs – Trimble Data Transfer – Data Transfer

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 - Select our device and type of communication i.e. Trimble 5700 GPS
receiver on USB port /
COM1.
- Click on ADD radio button.
- Click on GPS receiver – file
- Select destination folder with BROWSE option.
- Click on Transfer All
- Selected file will be downloaded in the destination folder.
- File structure of Trimble GPS Receiver 5700 is given below:
e.g. 95231450.DAT
Where 9523 is the receiver number
145 is the Julian day of observation
0 is the session number
.DAT is extension for data file.
- For downloading the Almanac file from receiver we should select Almanac
file instead of GPS RAW data file.

iv. Conversion of RAW Data into RINEX Format -

The conversion of GPS raw data into RINEX (Receiver INdependent EXchange)
format is only required if the data will not be processed by the software given with
same make of receiver. In the case of Trimble GPS Receivers, procedure of
converting raw data into RINEX format is given below:
- Click on All program – Trimble Office – Utilities – Convert to RINEX.
- Select the Input .Dat file and also select the output folder name by
BROWSE option.
- Click on OK
- Select Antenna Type – Zephyr Geodetic
- Select Correction – Correct to Antenna Phase Centre
- Click on EDIT – Measurement Method – Bottom of Notch
- Enter the Original height of Antenna and Click on OK
- Fill up the Header Information
- Enter ID number of station in place of Marker Name
- Click on OK
- Finally Raw Data will convert into RINEX format.

v. GPS Baselines Processing -

The main control points having 24 hours GPS observation, data will be processed
with scientific software i.e. BERNESE Software with precise ephemeris. Rest of
all baselines will be processed with Trimble Geomatics Office Software.
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The Trimble Geomatics Office software provides the ability to generate post-
processed GPS baseline solutions and adjustment of network. The following steps
are involved:
a. Create a Project.
b. Import the GPS data ( Raw / Rinex data / Precise ephemeris) in the project.
c. Baseline Processing
d. Modify the coordinates system manager for Cassini Projection
e. Network Adjustment
a. To create a project:
- Click on All Program – Trimble Office – Trimble Geomatics Office – Trimble
Geomatics Office
- Click on New Project – Enter the name of project in Metric Template.
- Select the project folder option.
- Click on OK
- Fill up the Project fields of project properties.
- Click on Units and Format Icons
- By click, make proper change if necessary otherwise default setting gives
the result.
- Click on OK
b. Import the GPS data:
i. Trimble Raw Data
- Click on Import – DAT File – Select the destination path of raw data at Look
in Box
- Click on Open – Dat Checkin box appear.
- Click on Name box and Change with ID number of station, duplicate
number of same station creates trouble, avoid it.
- Enter the height of antenna in Antenna Height Box.
- Select Zephyr Geodetic in Antenna Type Box.
- Select Bottom of Notch to Measured to Box.
- Click on OK
- After all data imported in the project a network figure will be appear on the
screen.

ii. RINEX Data

- Click on Import – RINEX File – Select the destination path of RINEX data
file at Look In Box.
- Click on Open – Dat Checkin box appear.
- Check all the fields, change if necessary.
- Click on OK
65
 - After all data imported in the project a network figure will be appear on the
screen.
iii. Precise Ephemeris:
- Downloading the Precise Ephemeris from Website in SP3 format.
- Address for downloading the precise ephemeris is
ftp://igscb.jpl.nasa.gov/pub/product/julianday.
- Click on File – Import – Precise Ephemeris File – OK
- Select the destination path of Precise Ephemeris File in SP3 format in Look
in Box
- Select All files and click on Open radio button.
- Precise Ephemeris will be selected for the project for data processing.

c. Baseline Processing:
- Click on Select – All, In network all baselines will be highlighted with Red
colour.
- Click on Survey – GPS Processing Styles – Edit
- Change The Elevation Mask says 20°.
- Change Ephemeris – If Precise available otherwise Broadcast is ok.
- Click On OK - OK
- Click on Process Icon or Survey in Tool Bar – Process GPS Baselines, GPS
Processing Box will appear.
- Check all processed baselines for the following quality acceptance test criteria
a) Ratio > 05.0
b) Reference Variance < 10.0
c) RMS < 0.010m
d) Solution Type = Fixed
- will appear in the check in box if the above said criteria is
achieved.
- Click on Save, A Recompute Report generated automatically.
- Recompute report is examined for the error & warning section, points
derivative section, closure section, traverse section and starting points
section.
- At the time of analysis of baselines which is not passed, any one of above
quality acceptance test criteria that baselines are flagged in red colour.
- Flagged baselines should be examined more closely to determine why they
received the flag, and troubleshooting techniques may be required to
improve the overall quality of the baseline solution by reprocessing.
- Troubleshooting techniques may or may not improve baselines statistics.
Try them one at a time before returning the field.
66
- Troubleshooting are:
a) Disabling a satellite
b) Editing cycle slips
c) Editing invalid range data
d) Evaluating and raising the elevation mask.
- Click on red flag baseline
- Select Timeline in tool bar, timeline appears.
- Click on the + sign of the receiver number at the left edge of the timeline
window to view the data graphically.
- Identify the data folder containing the data. Use Zoom to Span
- Scan the GPS observation for cycle slips, invalid range errors and other signal
loss problems.
- Right-click a satellite icon where the qualitative data is unavailable.
- Select Enable / Disable
- Drag a selection rectangle around the group of GPS observations
- Select Enable / Disable
- The satellite and all associated GPS observations are disabled.
- Reprocess the baseline and compare the processing results with the earlier
processing session if the baseline has improved save the baseline solution in the
project.
- If the baseline is not improved, view the GPS Baseline Processing report.
- Double-click a baseline solution in the GPS Processing dialog Box or Select a
baseline, and click Report.
- Check the Satellite Phase Tracking Summary at each station for breaks or
gaps in the L1 or L2 signal. A continuous line indicates a clean signal. A gap
or break in the line indicates a cycle slip or satellite signal loss. Tick marks
indicate when the receiver picked up the satellite signal after a cycle slip.
Remove the data by Timeline method.
- Check the combined Satellite Phase Tracking Summary. The gray shading
indicates the measurements actually used in the baseline solution.
- Check the Residual plots for each satellite. These show the RMS (Root
Mean Square) for each satellite used to determine the baseline solution. The
residual plots indicate the quality of data received from each satellite. You
can use this plot to get a feel for the amount of noise in the solution. This
plot shows the residuals for each satellite for each measurement cycle. Noisy
satellites may affect data coming from other satellites. The lines on the graph
should be centered around zero. The amount of noise in the solution is
indicated by how far the plot varies from zero. Remove the satellite or
disable the GPS observation whose residual plots are far away from the
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zero.
Reprocess the baseline and analyse the result, if baseline has improved
save the baseline in the project.
- If not, re-observe the baseline in the field, no other alternative is left.
Modify The Coordinate System Manager: To define or edit coordinate system,
zones, sites, ellipsoid, Geoid models and Cassini projection, use the Coordinate
System Manager utility.
- Click on All program – Trimble Office – Utilities – Coordinate System
Manager
- Current – Coordinate System Manager Box will appear.
- Click on EDIT – Add Coordinate System Group, Enter the Name (INDIA)
and Click on OK
- Click on EDIT – Add Coordinate System – Cassini-Soldner.
- Select Coordinate System Group Name and click on OK, Zone parameter
Box appear.
- Enter the name of project, Datum Name WGS-84 click on NEXT, Geoid
Model Box Appear
- Select Method – Geoid Grid Model; Model – EGM 96 and click on NEXT,
Projection box appear.
- Enter the value of origin for Cassini Projection as central Latitude, Central
longitude, False Easting & False Northing and click on NEXT then FINISH.
- One of the GPS stations, which lie in the centre of Network, is taken as
origin for Cassini Projection.
- Save and Exit the Coordinate System Manager Utility.
- Changing the coordinate system for a project, open the project – Click on
Project
- Click on Project Properties, Project properties Box will appear.
- Click on Coordinate System – Change.
- Select Coordinate System and Zone and click on NEXT.
- Select coordinate system group & Zone and click on NEXT.
- Select Predefine Geoid Model EGM-96 and click on FINISH.
vi. Network Adjustment –
The purpose of performing a least-squares adjustment in network is to estimate and
remove random errors, provide a single solution when there is redundant data,
minimize corrections made to the observations, detect blunders and large errors,
generate information for analysis, including estimates of precision. The two major
network adjustment procedures include:
1. Begin with a minimally constrained adjustment (or a free adjustment when inner

68
constraints are used) to adjust and perform a quality-control check of your
observations. This step: checks the internal consistency of the network, detects
blunders or poor-fitting observations and obtains accurate observation error
estimates.
2. Perform a fully constrained adjustment. This step: reference the network to
existing control (datum), verifies existing control and obtains accurate coordinate
error estimates.
- After reviewing and analyse the all baselines of the network if any flag exits.
It is removed by clicking the mouse on the station or baseline, a properties
box appears.
- Click on Flag in properties box – Suppress this massage.
- Click on Adjustment – Datum, select WGS-84.
- Click on Adjustment – Adjustment Style, select 95% confidence level.
- Click on OK
- Click on Adjustment – Adjust, for free adjustment of network.
- Re-compute Report is generated automatically.
- Examine the re-compute report for the error & warning section, points
derivative section, closure section, traverse section and starting points
section.
- Click on Adjustment – Observations – Geoid – Load and OK.
- Click on Adjustment – Points.
- Enter all MSL Heights of the control points in the column of Elevation.
- Click on OK.
- Click on Adjustment – Adjust.
- Click on Adjustment – Points.
- Enter the value of Latitude and Longitude of one or two fixed control points
in the proper field and click on OK.
- Click on Adjustment – Adjust.
- If reference factor is high click on observation uncheck the box for
Maximum Standard Residual in the form of Outlier.
- Click on Adjustment – Adjust.
- For viewing the network adjustment report click on Reports – Network
Adjustment report.
- Click on report – GPS Loop Closure Report, to analyse the loop closure
report.
- In network adjustment report generally Chi-square test is failed at 95%
confidence level. The Chi-square test is an evaluation of the network
reference factor (RF) and the degrees of freedom. If the RF is close to 1.0,
the degrees of freedom are acceptable, and the network fits together
69
 mathematically, then the network adjustment should pass the Chi-square
test.
- The RMS of the coordinates should be less than 0.020 m for a good adjusted
solution.

70
 Chapter Three

Application of GPS in Cadastral and Tacheometric Survey

The surveying of a proposed cadastral plot starts with the establishment of

geodetic GPS ground control point network. The GPS point network is necessary
for the positioning and orientation of a tacheometer at a survey station from
which the plot’s boundary will be measured. The orientation of tacheometer is
carried out at a survey station, which consists of two GPS points (fixed GPS
points). One GPS point can be used as a tacheometer position and second one for
the orientation of a tacheometer. At least two GPS points are necessary for
orientation a tacheometer on a station. This technique of tachometry survey from
two GPS control points is shown below:

Figure 15: If trees and hills obstruct the views in survey area, it is necessary to
set up two stations with two GPS points each. Two measurement stations –
station #1 with GPS points 1A and 1B, and station #2 with GPS points 2A and 2B.
GPS point 1B is used for a tacheometer positioning, and GPS point 1A is used for
the tacheometer orientation. Similarly, GPS point 2B can be used for a
tacheometer positioning, and GPS point 2A is used for the tacheometer
orientation or vice versa.
71
 If the terrain is relatively flat throughout the surveying area (in the range of
up to 3 meters) then it is enough to use only one station with two GPS points to
survey whole area. However, if in the area there are objects such as forest,
bushes, single trees that can obstruct the view between two GPS points or from a
tacheometer position to measured objects, then in the practice, surveyors
established a number of two-GPS points’ stations that cover the entire surveying
area.

As soon as a tacheometer is positioned and oriented at a GPS point, a plot’s

boundary and other objects around the positioned station can be measured using
a tacheometer and reflector with a prism.
The example implementation of such a survey technique is described in Part A of
this lab. In this part of the lab, you will just need to follow the steps and answer
the questions found in the text.
Another classical tacheometric survey method is more complex. It is a traverse
from two GPS points with known coordinates through the surveying area that also
ends with two known GPS points. The example is shown below:

Where A and B, C and D are GPS known points. 1, 2, 3, 4 points are the
intermediate traverse points which should be measured and used for
tacheometry. To improve the accuracy of measurements, adjustments of the
traverse measurements can be done e.g. by software of a total station
instrument. To perform the adjustment, the traverse should end with two known
GPS points.

Preparation Stage:
At the beginning of survey work, a spatial configuration of the proposed plot
should be examined using existing topographic materials, such as ortho-
72
photographs and existing cadastral plots. This is necessary for a surveyor to plan
where to set up survey stations with two GPS points that will be using for
measuring of the proposed plot’s boundary and associated objects.

Positions of stations (GPS points) have to be selected according to the natural

characteristics of the proposed plot, i.e. the plot shape, terrain and pattern of
forest cover. A denser network of GPS points is better according the surveying
guidance. GPS points should be fixed in open areas from which the boundary of
plot is clearly visible as well as the plot’s corner points (buildings, infrastructure
objects, etc.). A GPS point network should cover the whole surveying area and
allow coordinating of all associated plot’s objects. Thus, the number of the GPS
points can vary depending on the natural characteristics of survey area, for
example:
• If a plot is in an open field and on a plain surface, and all surveying objects are
visible from 2 GPS points, then 2 measurement stations are enough to survey a
plot. These two stations will have 4 fixed GPS points (two for each GPS station).
Two stations with 4 GPS points are necessary to check and adjust the
measurements;
• If a plot is located in a hilly or/and wooded area, a GPS point’s network should
include as many points as necessary, in order to coordinate all objects of plot. For
example, if 20 measurement stations are needed, there should be 40 GPS points
measured (two for each GPS point) in order to survey whole plot.
In a case whereby the survey area is a wooded field with a large perimeter;
therefore, a several GPS stations should be used to survey the plot using the
discussed tacheometry technique. On arrival to the study area, the configuration
of the plot should be analyzed and a decision made on how many stations should
be set and where the GPS points will be fixed. An optimal configuration of
geodetic ground point network should be selected.
As discussed above, a GPS point should be fixed in an open area from which it
would be possible to survey the terminal points of plot boundary. Each station,
from which a plot will be measured, must consist of at least two GPS points, i.e.
the minimum number of the points necessary to carry out this tacheometry
technique. A third point can also be fixed in the station to increase the accuracy of
the measurements through adjustments, but two points are normally enough for
accomplish a cadastral survey with required accuracy.

73
The position of GPS points should also consider the positions of GPS satellites in
the sky. Any surrounding objects, such as buildings, trees, should not disturb
satellite signals received by a GPS device. During the measurements, a GPS device
should have direct views to at least 6-7 (maximum of 12) satellites, as well as to
signals from differential correction satellites or networks (if provided).
Considering all these requirements, 12 stations with 24 GPS fixed points were
selected at the surveying area. This configuration covers the entire surveying
area, as shown in Figure.

GPS field Observations Procedure:

Leica GPS 1200 receiver is used for GPS measurements. To start the
measurements at a GPS point, a new job was created by pressing Management >
Jobs > New (see the sequence of print-screens of GPS receiver below).

74
When a dialog of the new job was opened, the new job title was entered, for
example, GPS_points. Then, by pressing Cont (Continue) button, metadata for the
job can be entered.

Returning to the Main Menu, the Survey option was selected. Then the
GPS_points job was selected from the Job list and then Cont button was pressed.

75
Now GPS coordinates on the occupied point can be fixed. The dialog shows the
parameters of the signal strength and accuracy, which have to be considered
before fixing the GPS point coordinates.

76
Figure : Main screen of signal strength and accuracy parameters of GPS device:
1. Number of available satellites.
2. Satellite signal strength. Black bands indicate GPS signals strengths, red –
GLONASS signals strengths.
3. Available accuracy.
4. PDOP parameter.

77
The accuracy of ongoing cadastral measurements of horizontal coordinates must
be less than 0.03 m. To achieve such accuracy, a high-quality signal should be
awaited for about 1-3 minutes. In addition, the PDOP parameter should be
considered. This parameter shows the accuracy of the satellite signals, which
should not exceed 4.00 PDOP for cadastral measurements. The smaller the PDOP
value, the smaller are the satellite signal errors, and the more accurate are
measurements of point coordinates. Therefore, before fixing the point
coordinates, the horizontal measurement error of the GPS device should be less
than 0.03 m and PDOP less than 4.00. If the values of these parameters
correspond to the surveying requirements, then the GPS point coordinates can be
fixed.

When the required accuracy is reached, the GPS receiver was set on the station
point and Occupy option was applied. The point coordinates were set
automatically after 20 seconds. It necessary to set the point coordinates 2 times;
the second measurement is necessary for confirmation.

Next, the coordinates of other remaining 23 GPS points of selected 12 stations

(Figure) were measured. Again, each point was measured twice for confirmation.
Surveyed GPS points were marked with the temporary markers, such as lath and
ribbon, in order to find them later when the tacheometric survey will be carried
out.
The coordinates of 24 GPS points were measured by Lithuanian surveyors. They
are shown in Table 1. These points are prepared in LKS-94, which is the Lithuanian
78
Coordinate System based on Lithuania 1994 (ETRS89) datum
http://georepository.com/crs_4669/LKS94.html.

Tacheometric Survey Stage:

After fixing the coordinates of 24 GPS points, the points’ measurements, which
are their LKS-94 coordinates, should be transferred from the GPS data-logger to
the electronic tacheometer. Leica TPS 1205 total station was used as the
tacheometer for the fieldwork. Since there were not too many fixed GPS points,
they can be manually added into the tacheometer, since usually there are no
devices for data transfers in the field.
To add a new GPS point into tacheometer, first, the Management option was
used, and then Data > New point options were selected (see the sequence of
print-screens of GPS receiver below).

In the New Point dialog, a new point was created in the tacheometer by entering
its ID, Easting (Y) and Northing (X) coordinates obtained from the GPS
measurements. The Store command was applied to create the point, so the point
was saved in the device memory.

79
The same dialog was used to enter ID and coordinates of another GPS point.
Sequentially, all points listed in Table 1 with their ID and GPS coordinates were
entered in the tacheometer. ESC button was used to return to the main menu.
Once the GPS points with coordinates are entered into the tacheometer, the
survey of plot boundary can be started. To start, a new job was created by
pressing Management > Jobs > New.

The job title Measurements was assigned to the new job. Then, by applying Cont
button, metadata for the job can be entered.

80
Next, the total station was positioned on one of the measured GPS points, which
was found by the temporal marker created on site earlier. Then, the total station
was horizontally aligned by using its level.
Then the Survey option was selected from the Main Menu.

Next, from the job list, the Measurements job was selected and the Setup button
was clicked.

81
Once the Setup dialog window was opened, a function Known BS Point was
selected from Method list. Then the From Job option was selected from the
Station Coord list. In the list Station ID, the GPS point on which a device was fixed
was selected (one of the 24 measured GPS points). In this case, it was the 1st GPS
point. The value of Instrument Ht option should be left empty. The heights of the
points were not measured because a georeferenced orthoptograph was used as a
background for a survey plan. In the list Fixpoint Job, the job Measurements was
selected. These parameters were applied by clicking the Cont button. These
setting defined the position of the tacheometer.

82
In the next dialog window Set Stn & Ori - Known BS Point, the GPS point to which
the tacheometer should be oriented was selected from the list Backsight ID, e.g.,
this is the second GPS point. If tacheometric station consists of two GPS points #1
and #2 (see Figure 3), and if the tacheometer was positioned at the point #1, then
it should be oriented to the point #2. Thus, the list value of Backsight ID was set
up to the point #2. These setting defined the orientation of tacheometer.

Next, the telescope of tacheometer was oriented to the prism (Figure 4), which
was positioned at the second point, and then Set. The orientation of device was
confirmed by pressing OK.

Once the instrument was oriented, the measuring dialog window opens
automatically. To start measuring, the Survey button was clicked, the previously
created Job was chosen and then DIST button in the Job menu dialog was
83
selected. The prism was positioned on a turning point of the land plot. Then the
REC button was pressed to save measurement and the next measurement point
was chosen. Thus the plot boundary and objects of interest, which should be
shown on a cadaster plan, such as roads, power poles, etc., were measured
around the GPS point #1.

Road surveying: To survey the roadsides, the reflector with prism was set on the
edge of the road. Edges of roads were measured in terminal points from the both
sides, then later they can be joined to show road on a plat. The example of a
survey of road section is illustrated in Figure 5. The drawing shows where the
road terminal points were fixed.

84
Figure : The drawing of road terminal points’ survey
The surveying of power poles: To survey the power poles, the prism was
positioned near the power pole directly to the tacheometer. Then the exact
positions of the power poles were fixed.
Other plot objects, such as fences, forest boundaries, etc., are surveyed in turning
points, which are where the objects change in configuration, position or/and
direction.
During the tacheometry, each surveying object was coded with the following
descriptions: house-1, house-2, house-3 – these points indicate the house corner
or wall edge; road-6, road-7, road-8 – these points indicate the road terminal
points; fence-7, fence-8, fence-9 - these points indicate a terminal point of the
fences, etc.

If the visibility in the surveying area is good, the coordinates of a plot object can
be done with a laser beam without using a reflector with prism. By pressing Shift
and F11, the laser is activated. By press F11 change from the prism mode into the
reflectorless mode.

85
The laser of the tacheometer can be pointed at a plot object (e.g., poles), plot
terminal points (e.g. fences), and their coordinates can be fixed. Measurements
by the laser speed up the work and make it easier, because an assistant to the
surveyor does not have to walk and move a reflector. In addition, the
measurement with a laser is very convenient when measurements are made in
hard to reach or dangerous locations. However, reflectorless survey can be less
accurate.
The cadastral measurements in the surveying area have been completed. Now
the measurement data should be transferred into the GIS to prepare the plot
drawing.

2.1 TRANSFERING THE CADASTRAL SURVEYED DATA

After making the cadastral measurements of the survey area, preparation
for the plot drawing can begin. Before designing a plot, the measurement data
should be transferred from the tacheometer into the GIS, where you will do the

86
data processing as well as design a plot drawing. For this task, you will be using
ArcGIS for Desktop, where you will transfer the measurement data into a
geodatabase.
The software of Leica devices (GPS and tacheometer) includes functions for data
conversion and export. Conversion can be done from the Main Menu by follow
Main Menu > Convert > Export Data from Job > Cont. In the Job list, the
Measurements job, which was created and filled in tacheometric survey, was
selected.

Then by applying Cont, the measurement data was saved in TXT format in the
memory cards of the tacheometer. Using a memory card reader (usually it is
integrated in a computer), the measurement data was transferred into a personal
computer, which has the ArcGIS software.

87
From this point, you should not only answering questions, but also start to work
on this assignment task in ArcGIS.
1. You can find Measurements.txt file with the measurement data in your
working directory, e.g. Lab1_Data.

Now you will import the TXT file into ArcGIS.

2. Open ArcCatalog. Create a folder connection to your working directory where
you copied the TXT file. Right-click the Folder Connections entry of ArcCatalog tree
and select Connect to Folder.

In the opened dialog of Connect To Folder, set the path into your working
directory (Lab1_Data).

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Additionally, create a directory Data where you will create databases, and so on.

3. Create a database where you will transfer the tacheometric measurement data.
Right-click on the Data folder and select New > File Geodatabase. Name the new
database as Measurements.gdb.
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4. Open Measurements.txt file in any text editor and check that the
measurement data are saved in such form:

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The column names should be specified such as ObjectID, POINT_X, POINT_Y and
the measured point data should be listed below. The data values delimited with a
space. The measurement data can be edited in a text editor, for example,
Notepad, etc.

5. In ArcCatalog, find and select Measurements.txt file in your working folder.

Right-click on Measurement.txt and select Create Feature Class > From XY Table.

In the opened window, select the file’s fields that include the X and Y coordinates
(in this case, it is POINT_X, POINT_Y), then select the Coordinate System of Input
Coordinates as LKS_1994_Lithuania_TM. You can search this coordinate system
by the keyword LKS in the Spatial Reference Properties dialog. Finally, set Output
into Measurements.gdb\Measurements feature class of File and Personal
Geodatabase. Click OK.
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92
6. Check that the data from TXT files have been transferred to the database
Measurements.gdb properly. Open the database Measurements.gdb, select the
feature class Measurement and click Preview in the right window of ArcCatalog.
You should see the measurement points transferred from the TXT file. If the

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Measurement layer looks like as the following example, it means that you
successfully transferred the data into the geodatabase.

7. To create a drawing of cadastral plot, you need to filter roads, plot boundary
and other objects from the tachometry data collection. You will do that by
creating feature classes for each respective cadastral object class within
Measurements.gdb. Open the database Measurements.gdb, right-click on it and
select New > Feature Class.

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You start with creating a roads feature class by specifying the Name as Roads and
select its Type of geometry as Line Features. Then click the Next button.

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Then you should select the coordinate system of the feature class, which will be
again LKS_1994_Lithuania_TM and then click the Next again.

Accept the default settings of XY tolerance and the database configuration in the
next two dialogs by clicking the Next buttons.

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In the last dialog window, you may enter names of the attribute table columns.
For example, if you are creating a feature class of buildings, then you may specify
the type of the buildings (e.g., made of bricks, wooden, inhabited, uninhabited,
abandoned and so on). In our case, creation of fields for additional attribute is not
required. Click Finish. You have just created a first feature class Roads that is still
empty.

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2.2 PROCESSING THE CADASTRAL DATA

8. Open ArcMap and Add the two feature classes from Measurements.gdb
database. Zoom to measurements layer: right click on it > Zoom To Layer.

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The layers are displayed in the left Data view window of ArcMap. You will only see
the data of measurements layer. Road layer is the only feature to display so far.

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9. To start loading the roads, plot boundary and other objects with features from
the tachometric data collection, you have to work in an editing session of ArcMap.
Bring Editor toolbar on the ArcMap interface: in the main menu of ArcMap,
navigate to menu Customize > Toolbars and check Editor.

10. Start the data editing session from the Editor toolbar dropdown menu by
clicking Start Editing. Remember that after finishing an editing session, you have
always to Save edits from Editor toolbar dropdown menu.

11. To have a perfect matching among edited features, the snapping mode should
be turned on. This mode allows snapping to points, ends, vertices or/and edges of
coincident features from one layer or multiple layers. For example, if you will
build a road by connecting GPS data points, you will need the sidelines of road to

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be perfectly snapped with those GPS points. You can activate the snapping mode
by clicking the dropdown menu of Editor > Snapping > Snapping Toolbar.

The Snapping toolbar will open. You can leave the standard Snapping settings,
which are activated for the four types of snapping: points, ends, vertices and
edges. From the Option link of Snapping dropdown list, open the Snapping
Options dialog window and check Show tips boxes. It will help during manual
edits.

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12. First, you will create a parcel_line feature class. From the tacheometric
survey, we know that our plot boundary line consists of the measurement points
with the ID from 1 to 48 (you may have taken notes about this while carrying out
the survey, or added associate code as an additional attribute to surveyed points).
Thus, you have to select only those points from the measurements collection
feature class. Double-click the measurements layer and select Properties.

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In the dialog window of Properties, select the Definition Query tab and build a
query as OBJECTID_1 <= 48 and press OK. Then the layer measurements will
display only the points with ID less than or equal to 48.

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13. In the ArcToolbox , search and find a tool that will convert the selected 48
points into the line, which marks the boundary of land plot. Navigate through the
Data Management Tools > Features and run Points To Line tool.

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In the Points To Line tool dialog, select the measurements layer from the
dropdown list of the Input Features textbox. The tool will only use the selected
GPS points from 1 to 48 in processing. In the field Output Feature Class, navigate

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to the measurements.gdb database and enter the name of the new feature class,
for example parcel_line. Check the Close Line box. Click OK.

The tool will create a new linear layer, which will outline the boundary of land
plot.

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14. Then you will use the parcel_line feature class to create a polygonal feature
class of the plot. This polygonal feature class can be used to find out the exact
length (or perimeter) and area of the land plot. Before creating a polygon, make
sure that your parcel_line is a closed polyline, i.e. the plot boundary begins and
ends at the same point. In ArcToolbox, find the tool which will convert the
parcel_line feature class into a polygon. Navigate through the Data Management
Tools > Features and run the Feature to Polygon tool.

In the dialog of Feature to Polygon tool, select the parcel_line layer from the
Input Features dropdown menu. In the Output Feature Class box, navigate to
Measurements.gdb database and enter the name of the new layer, for example,
parcel_polygon. Click OK.

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The tool will create a new feature class of the area of land plot.

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15. Save your work as MXD document in your working folder and repeat the Save
operation from time to time in order does not lose your ongoing work.

16. Next, the roads feature class will be created based from the measurements
feature class. Repeat step 12, but this time build a Definition Query only for those
points which ID larger than 48. You will see selected points depicting the roads in
the Data View.

17. This time you will use the Straight Segment tool of Editor toolbar to connect
the selected measurement points into the road feature class. From the Editor
toolbar, choose the Create Feature option

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In the Create Feature dialog window, select the road feature class and Line
Construction tool below it.
Start drawing the road sideline from the first road point (see the below print-
screen) using Straight Segment tool . When you move to a point, make sure that
the cursor is snapped – it should show snapping tip such as Measurment.Point,
and only then click on the point to create a polyline vertex. Connect points from
the same sideline into a polyline. When you reach the last point of a sideline,
double-click on it to complete the polyline.

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Create roadside polylines from the remaining points. The road network from all
measurement points is shown below.

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Finish the data editing session by following from the dropdown menu of Editor >
Save Edit > Stop Editing.

PLOTTING THE CADASTRAL PLAN

18. You will start with symbolization of the plot boundary. Repeat step 12 to
select only the plot boundary points. Then click on the symbol of measurement
layer to open the Symbol Selector dialog. Select a triangle symbol to display the
plot terminal points. From the Color dropdown palette, select a red color. Choose
10 pixels for the symbol size. Then click OK.

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19. Label the plot terminal points by using their points ID. Double-click the
measurements layer to open the Properties window. In the Properties window,
select the Labels tab. Check the option Label feature in this layer. In the Text
Spring section from the Label Field list, select the field OBJECTID_1. Select the
type and the size of the font, e.g., Arial Narrow and 8 pixels, and then click OK.

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The plot will be symbolized with the chosen symbology and labels.
20.

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20. Next, you will design the parcel_polygon layer. Click on a symbol of
parcel_polygon layer to open the Symbol Selector dialog. Set a light gray color
from the Fill Color palette. Do not use outline for this layer. Set the Outline Width
as 0.00 or/and Outline Color as in No Color. Click OK.

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21. Then you will label the plot polygon with its area and perimeter; these plot
dimension parameters are often shown on parcel plot. Double-click on the
parcel_polygon layer to open the Properties dialog. In the dialog, select the Labels
tab, and check the option Label feature in this layer. In the Text String block, click
the Expression button.

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In the Expression box, you can enter attribute fields that will be displayed as a
part of label, and a static text to annotate a label. Use the following expression:
"Parcel Lenght = "& [Shape_Length] & vbCrLf & " Parcel Area = "& [Shape_Area].
User defines the text in the quotes. The symbol & is used to join one text segment
with another. The special combination vbCrLf is used to create staked text. For
example, this expression creates a label with the Shape_Length field and the
Shape_Area field on separate lines. The square brackets enclose field names,
whose values will be inserted into the text label. Click OK.

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Additionally, you may define the type and size of label font. On a map, you will
see a labeled plot with its metric values.

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If you are not satisfied with the number of decimal places depicted the parcel
length and area, you can change it. Open the Open Attribute Table of
parcel_polygon layer. Then, open the Properties dialog of Shape_Length column
– right click on the column header and choose the Properties option. In the
Properties dialog, click Numeric button

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In the Number Format dialog, change the value of Number of decimal places
within the Rounding block to 2. Repeat the same for Shape_Area column.

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The values of label’s attribute will be changed on the map. You may need to
Refresh the plan to see changes.

22. Design the parcel_line layer.

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23. Additionally, often the lengths of segments are shown between the plot
terminal points. This dimensional information is important for cadastral purposes.
First, you will split the parcel_line into straight segments. In ArcToolbox, find and
run the Split Line at Point tool from Data Management Tools > Features. In the
Split Line at Point dialog, pick up the parcel_line from the Input Feature
dropdown list, and the measurements layer from the Point Features dropdown
list. In the Output Feature Class box, navigate to the Measurements.gdb database
and specify a new output feature class as parcel_line_measurements. Set the
Search Radius to 10 m.

The tool will partition the parcel_line polyline into straight-line segments where
the polyline touches the points of the measurement feature class. As a result, the
tool creates a new feature class that matches the parcel_line, however, the

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polyline traverse will be partitioned into straight-line segments and the lengths of
segments will be calculated.

24. Now you will design the parcel_line_measurements layer. Make the symbol
of this layer invisible, because the parcel_line layer already shows the plot’s
boundary. Change the symbology of parcel_line_measurements layer to No Color
or/and zero width.

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25. Label the segments of parcel_line_measurements layer with their attribute
values from the Shape_Length field. Use the same procedures that you have done
above to label the parcel_polygon layer.

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In addition, round Shape_Length values to 1 decimal place similar as you have
done above for the parcel_polygon layer.
26. Finally, you have to layout the plot. First, switch to the Layout View from the
ArcMap main menu View > Layout View.

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27. Set the Page and Print Setup parameters in the ArcMap main menu File > Page
Setup and Print dialog. Set a page size of the plat to A4 and landscape orientation.

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28. Set 1: 5000 scale of the plot. Fit the plat on the right side of layout page by
using the zoom tools from Tools toolbar and resizing the map frame anchors. Use
the Select Elements tool to work with layout frames.

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29. Now you will insert other plan elements such as a legend, north arrow,
annotation, scale etc. on the layout. All of these plat’s elements can be inserted
from the ArcMap main menu Insert.

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You can customize inserted plot elements by changing their Properties. In the
right top side of drawing layout, insert the title of plot’s plan and a date of
drawing’s complied into a separately text frame such as it is shown below.

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30. Next, insert a geographical grid around the plan. Use the Select Elements tool
to select the frame with the plan, then right-click on it and open the frame
Properties. In the dialog, go the tab Grid and press the New Grid button.

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131
Go through the grids wizard steps and select the main geographical grid settings
as shown below. Apply the Finish button on the last wizard step and then OK.

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133
134
135
The plot’s title should look like as the following:

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If you would like to change the grid appearance, select it with the Select Elements
tool, right click it to open its Properties. Now you can customize the grid
appearance from the tab Grids by using the Properties of selected grid.

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Change the grid so that the side labels of geographic coordinate are aligned
properly and make the tics of grid denser, as it shown below.

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31. Now you will insert tables from the PlanTable.xlsx file. These tables were
prepared for your use. The tables provide information about the surveyors and
other characteristics of plot. There are a few ways to insert tables into an ArcMap
layout. If a table prepared in Microsoft Excel, it can be directly inserted into an
ArcMap layout. Open the PlanTable.xlsx file in Excel from your working folder
Lab1_Data.

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32. Select one table and copy it in the clipboard (you may use keyword
combination Ctrl+ C to copy). Insert a copied table in the plat below the title from
the ArcMap main menu Edit > Paste, or use the keyboard combination Ctrl+V.
Adjust the table into the layout as it shown below by using the Select Elements
tool.

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Copy and insert the second table into your plot’s layout. These tables can be used
to annotate the plot.

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Thus, you have compiled a cadastral plot drawing.
33. Print the plot drawing in PDF format: from the ArcMap main menu File, use
the Export Map option. In the dialog, select PDF as the Save As Type, 300 dpi as
the Resolution and export the plot’s drawing into your working folder with the
name plot_drawing.

Open your plot_drawing.pdf file in Adobe Acrobat Reader. ArcMap creates a

dynamic PDF file. In Adobe Acrobat Reader, navigate to the main menu View >
Navigation Panes > Show Navigate Pane > Layers if you do not see the Layers
menu in the PDF viewer. You can then turn on and off individual layers by clicking
on the "eyeballs" beside each layer.

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 Chapter Four
Practical Steps in Setting Up the Leica GPS 1200 equipment

Step 1: When you collect your equipment make sure that you have the following
- 1 pole
- a cradle to fix to the pole
- a satellite dish with a battery
- a computer with battery and Compact Flash (CF) card
- 2 spare batteries in the red box
- bluetooth mobile phone
- a container for the mobile phone
- spare mobile phone batteries, a recharger and a car charger

Step 2: Slip the cradle on the pole, set the angle so you can look at the surface
comfortably and tighten it up. The dish screws on the top Loosen the black screw
at the top of the pole, extend the pole until it clicks into place and tighten it up
again as in figure

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The computer sits in the cradle. Ensure that the red button then gets pushed up
to lock it in place.

Step 3: Attach the high viz container to the now extended pole and switch on the
mobile phone. Once turned on, lock its keys.
If you do not turn the phone on soon, this warning will appear:
WARNING: 1869
Bluetooth 2: The device Nokia Phone cannot be found. Please turn on and
activate
Bluetooth on the Nokia Phone device or configure this BT port to use the
<Bluetooth2> device.
Turn on the GPS antenna (satellite dish) as shown in fig 3

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 Press the ON button
(bottom right)

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Once, the system is turned on, wait for the main screen to load. It will load
through a windows CE screen and will eventually get to the main survey screen
(fig 10.4).

: GPS 1200 screen display when turn on

Step 4: For survey, either press 1, or use the yellow arrow keys and highlight
‘Survey’ and press ENTER (red button).

Creating a new Job:

Step 1: On the next screen you will see that the top line is highlighted.
Press enter
This will show a list of jobs available on the machine.
You need to start a new one, so press ‘F2’ – New

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Step 2: Type in a sensible job name followed by the date. Ensure sure the job's
name can be easily understood by the person downloading and processing the
data. The date is VERY IMPORTANT.
Press ENTER
Type in a description of the work you are going to do, e.g.Survey
Press ENTER
On the creator line, type in your initials.
Press ENTER
You will notice near the top of the screen that there are several tabs. The page -
F6, button will switch between the different tabs (“Page across”)
Page across to the “Code” tab.
Ensure that the codelist the one you were assigned to use on your project. Use
the left and right arrows to select the correct one.
Page across
The co-ordinate system should be OSGB36 (02)
Page across
The average should be Averaging Mode: Average
Method: Weighted
Points to use: TPS & GPS
Avge Limit Pos: 0.050
Avge Limit Ht: 0.075 (see fig 5)

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press F1 - “Store”

when stored, the system will return to the list of jobs.

Ensure that your job is highlighted and press F1 – Cont
On this page, ensure that the job name is correct, the coordinate system is
correct, the codelist is correct
The “config set” should be SMARTNET ROVER
The antenna should be AX1202 Pole

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Press F1 - cont
Look at the very top of the screen. You should see some crosshairs. They will have
a large circle, a medium sized circle or a tiny circle around the centre. You should
also see an @ symbol to the right of the bit which says how many satellite signals
you are getting on the L1 and L2 frequencies. This all means that the GPS has a
code only solution with an accuracy of several metres, placing it roughly in the
world. The @ symbol means that you are connected to the internet (fig 6)

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Press SHIFT followed by F3, which will connect you to the internet and enable
your GPS to get an accuracy of up to 15mm.
As before, you will notice a series of tabs showing that there are several pages -
“Survey”, “Code”, “Annot”,
“Map”
You will mostly be using Code and Map.
Page across (F6) to the code page

The crosshairs at the very top of the screen will have a large, a medium
sized or a small circle around the centre, wait for the circle to become small.
Check the numbers at the bottom right of the screen (3D CQ). This will tell you
your accuracy. You can’t record points with an accuracy of 0.075m or more.
If this accuracy does not get to a reasonable level, ensure you are not standing
under a tree, or close to a building. If it is still very inaccurate, check your cables
and ensure they are all done up. If it’s still inaccurate, walk around for a few
minutes, and if you still don’t get anything, call the emergency contact number
you have been provided with.

Starting a survey with GPS 1200

General remarks:

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i. If you need to write down a value to check a point before recording it, or
for temporary points, press ‘dist’. Write down the values. Then press
‘rec’ in case you choose to record it.
ii. You can retrieve, edit and delete all data by entering the data menu. This
can be found by pushing the USER button, then selecting “Data
manager” (see p. 18).
iii. The data from your current job will be displayed and it will be grouped in
points, lines and areas. The points which make up your lines will be
listed as well, but without a code. The ‘Page’ button switches between
different bits of information, including a map of what has been surveyed
in. You can see what page you’re on by the tabs at the top - Survey,
Offset, Code, Map
iv. The map page is very useful for block planning features. You can zoom in
and out and use the yellow arrow keys to scroll around. Page to the
Code Tab. This is the screen that allows you to define Point ID and code
and can display the eastings, northings and height of any point you take.
v. You will need to enter a point ID (see below) and a code for the point Scroll
down to the Code line. Press enter. Select the code according to the
codelist and data, either by scrolling down to it, or pressing the left
arrow and typing it in.
vi. Press enter. Ensure the Point_ID is accurate. Check the codelist-page for
conventions (fig 8)

Point occupation:
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 i. Once these information have been entered, place and set the instrument
on the point to be surveyed and level it using the bubble.
ii. Now press F1 - “OCUPY”. The GPS will make a beeping noise. The screen,
will either display a line just below the 3D CQ saying ‘point occupied’ or
change to a screen asking for a mandatory attribute, in which case you
will have to type in a purely numeric value, e.g. 300 for P300.1, 217 for
SF217 etc.

General Survey:
Points
– You need to type in the point ID.
– Page to the Code tab.
– Use the left and right arrows to select the correct code.
– Drawing points and Levels will be surveyed using the appropriate codes:
– Drawing Points for plans: Code: DP P – Point_ID:
DP”Plan number”.1 and DP”Section numbers for sections etc.
– Context (and other) Levels: Code: CTXTLVL –
Point_ID: Context number

Lines
– NO closed area polygons are surveyed. Use line codes at all times!
– Use the left and right arrows to select the correct code. You are able to use the
code screen to get all the codes, and therefore open lines and areas from here.
Press cont when you’ve selected the correct code.
– Feature outlines: FEP
– Intervention lines: INT
– Internal limits of excavation: INT
– Limit of excavation: LOE
ALWAYS Press SHIFT + F7 when you’ve finished your line or area.

Creating points files with co-ordinates and uploading them into the GPS
If you are asked to set out points from known co-ordinates on site. The
points should exist as a shapefile in your GIS project.
Note the following:
i. Ensure each point has an individual point ID.

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 ii. Ensure you have the X and Y information within the shapefile's .dbf file. You
can apply this manually by using the field calculator:
iii. Start editing the shapefile containing the information of the points you wish
to set out and open its attribute table.
iv. Now select: “Table – Manage Fields” and add two columns named
“Eastings” and “Northings”. Choose “Double” as data type. - two new
columns will appear in the attribute table.
v. Click on the “Eastings” column and open the “Field calculator” tool
vi. Highlight the “Eastings” column on the left hand side, and on the right,
vii. scroll down until you find “x”. Double click only on “x” and confirm
this.

Repeat the above for the “Northings” column, selecting “y” in the field calculator.
The shapefile's .dbf file now contains Eastings and Northings, i.e. X and Y data.
Open the .dbf file from its stored location (right-click on the shapefile in gvSIG and
select “properties” - the filepath will help locating the .dbf file). Save the file as a
.csv (comma delimited) file in a logical location.
Now plug the CF card into the computer and navigate to its “Data” folder. Paste a
copy of the .csv file into this “Data” folder.
Replace the CF card and turn the GPS on.

Select “4 – convert”

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Select “2 – Import ASCII/GSI Data to Job”

Select:
Import: ASCII Data
Folder: the Data folder on the CF card
From File: the .csv file you uploaded onto the card earlier
To job: The job you wish to use as your setting out job – create a new, empty job,
called “STKE_(with a reference to what is being set out)”
Header: “1” (The .dbf file has a header, therefore you have to specify that row 1
of the .csv file contains the information, rather than standing for its own point)
Hit “CONT” and a message will be displayed, informing you that the points have
been imported.

Setting out using GPS 1200

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 If you are asked to set out new points created in GIS or retrieve previously
surveyed points. In any case, the co-ordinates of the points to be staked out must
be known and stored on the GPS.
For uploading points created from a shapefile,
Make a list and sketch-map of the points to be staked out for orientation and take
this to site.
From the main screen on the remote control, choose “2 – Programs”, then “8 –
Stakeout”
Ensure you select the job the points have been stored to and set it up following
the setup instructions prior to survey if this job has not been set up yet.

A screen entitled “Orthogonal Stakeout” will show up.

Select the point to be staked out by its Point ID

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Hit “Shift”, then “Conf” and ensure the option “Prefix” (this being “STKE”) is
selected –this differentiates the original points from the points staked out.
Values will be displayed for “Forw” (forward) and “Rght” (right) - this is the
distance to the target point.
Move the distance and towards the direction the instrument points you in: the
values will change as you move.
Once the target point is as close as possible – preferably within less than 0.003m
in either direction, mark this spot with a peg, nail or survey flag.
Now place the GPS on the centrepoint of the target, check the distance once
again by looking at the screen, and then hit “All” to record the point.
If you now check the Data Manager, the point just recorded will show up as
“STKE##” and the point initially selected as a target will show up with a small flag
next to it.

The STKE points will be surveyed without a code – use the data manager to
change this manually.
Write the number on the tags in a white space and make people aware of them.

Corrections of Survey Errors and Troubleshooting on site

Errors can be corrected on site, or in the office, so make sure all errors are
clearly written in the survey book.
To correct mistakes while you’re surveying, press User and then Data Manager
Highlight the point and press “edit”.
You can change the Point ID, code and reflector height.
Each reflector height must be done separately, so if there’s ten in a row, you’ll
have to do all ten.
Once it’s altered, press store. To change lines, page to the lines tab.
Select the line and press enter. You can remove points surveyed in by mistake.
N.B. These will be downloaded as a NOCODEPOINT shapefile, but saved only as
separate points.
Once you’re done, press cont.

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Otherwise, write down your errors on your survey sheet and ensure the person
who is dealing with the download knows about them. It may be quicker to correct
in LGO or gvSIG.

Setting out using GPS 1200

Problems encountered with the GPS:
i. Problems with coding:
In case the codelist shows only point- or only linecodes when coding up:
– From the Main Menu select “3 Management”
– Select “5 Configuration Sets”
– Highlight the appropriate one and hit “EDIT”
– A Wizard screen is displayed – press “CONT” (F1) until you reach a page entitled
“Coding and Linework”
On this screen highlight the lign reading: “Show Codes:” and ensure that “All
Codes” is selected (rather than only point- or line codes).

Downloading data from the Leica 1200

i. Navigate to Project\Survey\dated folders\Survey2009\
ii. Copy the folder called GPS_DATE_Template and paste it into the same
folder. Rename it with the date of your survey job.
(Project_TST_######)
iii. Open LEICA Geo Office Combined
iv. select “Projects”
v. Select New project (white sheet symbol to the top left) as shown in the
figures below.

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159
In the General Tab:
Project Name: Project_###### (date)
Location: Project\Survey\Dated folders\folder with
correct date\LGO Project

160
Coordinates Tab:
Coordinate system: OSGB36

Codelist_Template:
Leica System 1200 – Advanced

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Hit “OK”
Now you need to import the raw data.
Ensure that the card is in the card reader.
Usually the CF card will have to go straight back into the GPS on site to ensure
survey coverage. Therefore it is advisable to copy the data from CF card\DBX to a
folder on the PC (e.g. Temporary_Survey_Download on the desktop). Copy all the
files with the job's name to this folder.
Go to Import - Raw data or hit the equivalent button on the toolbar.
Locate to the CF card\DBX\the project you want to import or to the folder on the
PC containing the the raw data copied across earlier
(Temporary_Survey_Download on the desktop)

Click import

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A screen will pop up with a list of projects, including yours, make sure it is
highlighted.
Click the icon with the text on it (display field book) Click the floppy disc next to
the Fieldbook report button this saves back the raw data.
It is saved into the folder “Backup_raw_data” in the Dated Folder.
Now click “Assign”
Now click “Close” to close the dialogue.

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Leica GeoOffice will show a series of points as text.
Click Local then Grid (top right)

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Click Tools – Compute Geoid Separations

N.B. It can happen that (as shown in the image, right), the option “Compute Geoid
Separations” is greyed out, i.e. not available.
The solution in this case is to go

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“File” - Project Properties” and to go to the “Coordinates” tab.
The coordinate system will most likely have changed itself to being one without a
Geiod model.
Simply change it back to OSGB36(02) and hit “Apply”
The Geiod separation is now possible.

The next step extracts the data that will be input into GIS :
Select:
– Export - Shape file

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Navigate to your
D:\oa\Project\Survey\Dated_Folders\Project_date\Shape file\2D
Go into “settings” and ensure that 2D is selected.

In case you are running LGO for the first time since installation, use the tabs at the
top to determine exactly what type of data will be embedded into each type of
survey object.
This should, by default be defined as:
Points: Point code
Attribute 1
Point ID
Northing/Lat
Easting/Long
Height
Lines: Line Code ID
Attribute 1
Line ID

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Repeat the above for 3D shapefiles. (using the 3D folder)
Click “Save”.
Export ASCII data in the same manner, saving it into the “Spreadsheet” folder.

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Now right click on the fieldbook report in Leica GeoOffice and print it as a PDF
using the PDFCreator. It will be called the same as the job and save it in your
dated
folder\LGO_Fieldbook_Report.
Ensure you name each saved item (or group of items in the case of shapefiles)
with the name of the job and save it in the dated folder/appropriate folder!!!
Please ensure you name everything appropriately and in the same way as the
previous survey!
Close Leica Geo Office.

Inputting data into GIS

The GIS software package used is called gvSIG. It is an open source program
developed by the Government of Valencia, Spain. The particular package we use
is the OA Digital 2010 Edition, based on gvSIG 1.10, adapted by Ben Ducke.
The following instructions are based on the assumption that the user is operating
a Microsoft Windows computer.
– Open the current gvSIG project, usually stored in D:\Project\GIS\projects\gvSIG
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– Open the project by double-clicking – gvSIG opens – If no map is displayed go
“Show – Project Manager”

The Project Manager

– The Project Manager provides a way of working with several data views and
map layouts within one project. It contains the sections “View”, “Table” and
“Map”.
– You will need to get back to the project manager often. To do so, choose
“Window - Project manager” from the main menu.
– Select “View” and highlight the view you wish to see -click “open”: The view will
be displayed.

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– The view usually contains all the relevant data from the present fieldwork.
– The data is displayed in layers, which are saved as shapefiles and referenced
externally:
– Highlight (by clicking onto) one of the layers and right-click. Select “Properties”:
This will show you, amongst other information, the filepath that this file is stored
at.
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172
– The filepath for all the current layers in the GIS project are stored in
Project\GIS\shapefiles\current!
– ONLY the current layers can be stored here, the old ones are to be removed to
the folder Project\GIS\shapefiles\old as soon as the update has been undertaken
– The file may be listed under a different name in gvSIG – this is because it is
possible to rename the individual layers once they have been imported into GIS:
“Archaeological Features is the layer name, whilst the shapefile is called
“Arch_features_240609”
The tabs at the top of the “Properties” Window give the options to change a
particular layer's appearance in the “Symbology” tab and also to display attribute
data in the “Labelling“ tab.

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The data you will deal with:
The survey data which will be input into the current GIS project will have
the same format as the existing data and it will consist of the shapefiles you
produced during survey (see above).
Check your dated survey folder – shapefiles for what data you have actually
imported:
Remember:
There are three files (at least) to every shapefile (.shp, and .dbf are always
present)
The files are named exactly as the CODES you used during survey – therefore you
should be able to recognise these names from the features, finds etc. you
surveyed.
As mentioned above, you survey only line data and point data. Therefore take a
moment to look at your data and take a note at what's what.
ONLY the line data gets imported directly into the GIS, the point data is added
manually.

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Point and Line data:
Open the main view of the gvSIG project (unless, of course, it is already open).
The codes used for this have a description each: eg. ILOE = Internal Limit of
excavation, relating to a layer in the GIS project.
Your survey data will (probably) include archaeological features. These will be on
the “FEP” code in the GPS, therefore downloaded into your dated shapefiles
folder as “FEP” and the GIS project will include a layer called
“Archaeological_features_110609” (the shapefile is dated).
The date does not have to be that of the previous day – it depends on
whether any archaeological features were surveyed that day or not.

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The following point-shapefiles from your survey folder will not be included in the
update and do not need to be updated:
– STN – as these remain constant
– BCK – is for reference only in case the survey data looks wrong after it has been
imported into GIS (in which case import the BCK point – one should be taken at
for each survey setup – and check whether it is in the same location as your
backsight-point)
– NOCODEPOINT: open the .dbf file of the NOCODEPOINT shapefile and check
whether it contains any finds or other point data you might have forgotten to
code up. Open the file with scalc (OpenOffice Spreadsheet), NOT with Microsoft
Excel!! If you surveyed following the above instructions, you should have no data
on wrong layers!!!
Now: add the fresh survey data.
Shapefiles are imported ONE AT A TIME and dealt with separately to avoid
errors!!!
Choose “View - Add layer” from the main menu or click on the layer icon in the
icon bar.
The “Add layer” dialogue will pop up.

Make sure the “File” tab is selected and choose “Add”.

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Ensure the option “Shapefile” is selected.

Navigate to
D:\oa\Project\Survey\Dated_Folders\Survey_2009\Proj
ect_TST_DATE\shapefiles\2D and select one line layer.
Then click “OK”. The shapefile will now be added to the layer list of the active
view.

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If you cannot see anything: Use “zoom to layer” from the layer
context menu (right mouse button) to zoom to the extents of a
specific layer .

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Merging and updating the data:
Open the Sextante Toolbox by clicking on the small icon at the top left of the
gvSIG toolbar.
The toolbox will pop up displaying a list of functions. Click on the “+” in front of
“Vector Layer Tools” and then double-click on “Merge”

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Another window will pop up, asking you to specify the main / source layer: This
will be the shapefile already existing in your project with a date, eg
“Archaeological Features”.
Select your input layer: select the shapefile you have just imported - “FEP” and
click “Accept”.
The output should be saved as a temporary file initially, for the sake of security.
Click “Okay” - a layer will be produced that contains all the features you surveyed
today plus all those features surveyed at earlier dates.
Make sure that everything appears in the correct place.

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NOW save this result:
Highlight the layer called “Result” and go “Layer – save as – Shapefile” in the
gvSIG toolbar.
Navigate to the Project\GIS\shapefiles\current folder and click ONCE on the
previous layer which you just merged with your survey data.
The name will be displayed on the input bar, so all you need to do now is change
the date (instead of overwriting the original file) and save it.
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gvSIG will ask you whether you would like to add the new layer to the view - “Yes”

Now – Delete the Result, the surveyed shapefile you added to the project AND
the shapefile you merged it with from the project by rightclicking onto each layer
when highlighted and selecting “Delete layer” and confirming this.
Repeat this procedure for each shapefile you downloaded.
Close the project and save the changes.
Now go to Project\GIS\shapefiles\current and select the three files off each
shapefile you have updated. Cut them and paste them into
Project\GISshapefiles\old

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Editing Shapefiles
It can happen that survey data looks slightly messy when exported. This is
due to the fact that we survey to a millimetre's accuracy and the end- and mid-
points of lines do not always snap together.
This is only applied to the merged shapefiles which are edited, the original survey
data remains untouched and backed-up, in case it may have to be re-imported.
The tools described in the following are also used whilst digitising plans, but only
represent a limited choice of editing tools – in fact only those used for very basic
edition. For more options, please consult further documentation.
Highlight the layer you wish to edit and select “Start Editing”.
The layer's name turns red and the view will be halved by a command line that
pops up at the base.
You can minimise this by clicking onto the arrow pointing downwards to the top
right of this bar–usually it is not required.

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 Close your open polygons by selecting to draw a polyline. Snap these to the
end points of your open feature.
Should you have taken a point in the wrong position choose
“edit vertex”, click once onto the point you wish to remove, then right-click onto
it and select “Delete”.
You can also add further vertices by choosing “Add”.
The “Selection” button on the toolbar will enable the editing and re-placing of
individual nodes.

Line data can be split by using the “Split Geometries” tool:

Select the feature to be edited and select the “Split geometries” tool.
Draw a line from a point not on the feature you wish to edit to the point you wish
to break it at and then another point on the same line (or a line with two points
crossing over the breaking point).
Then type “e” and hit “enter”. The line will be split at the point defined and two
separate geometries will have been created.
Closed polygons are produced with tools found in the Sextante toolbox, such as
the “Polygonize” function.

Editing and attaching attribute data:

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 The following can be applied for a whole range of attribute data editions,
the example represents the attaching of context numbers to surveyed features.
Levels with context numbers attached will have been surveyed in the field and
these points will be displayed within the archaeological feature layer. Label these
points with the “point_ID” field.
Start editing the shapefile and open the attribute table. Select “Table” (top
toolbar) - “Manage fields” and add a column to the table re-naming it “Context”.
Now highlight one feature in the attribute table by clicking on it and “Zoom to
selection”:
Note the context number of the level within this feature.
Enter the context number in the first column of the attribute table of the
highlighted feature and hit enter.
When finished editing:
Do not forget to right-click on the layer again and select “Stop editing”.

Bibliography

Araen, A.S (2017): Practical Surveying for Surveyors, Vol. 4

Araen, A.S (2018): Practical Surveying for Surveyors, Vol. 5

Michael Govorov Linas Bevainis (2016): Remote Sensing And Gis For Cadastral
Surveying Manual

Handbook Of Topography( 2009): Control By Gps & Triangulation / Trilateration

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 The Author

Surv. Araen, Shinge AsanaRimam hails from Costain Lissam, the

headquarters of Ussa Local Government Area of Taraba State. He holds a B.Tech
(Hons) Degree in Surveying (2002) from Federal University of Technology, Yola,
Adamawa State (Now Moddibo Adama University of Technology, Yola) and
earned a Masters Degree in Resource Development (2015) from Umaru Musa
Yar’Adua University, Katsina, Katsina State. He is has authored books, and
articles who have been published in local and international journals.

He is a registered Surveyor with Surveyors Council of Nigeria (SURCON)

and an Associate member of Nigerian Institution of Surveyors (NIS). Currently, he
is a Principal Surveyor at the Office of the Surveyor-General of the Federation,
Katsina State, Nigeria. He is happily married to Mrs Rachel N. Asanarimam and
the marriage is blessed with three children; McDonald NdesiNdewu Asanarimam,
Stephanie AyiNyangti Asanarimam and Dominion RibomRimam Asanarimam.

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