SURVEY PRO

for Windows CE

GPS Users Manual

2000 Tripod Data Systems, Inc.

All Rights Reserved

i
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.MAN-CESURVPROGPS 11012000

ii
Table of Contents
Introduction ........................................................................................... 1
GPS Coordinates................................................................................... 2
Datums ....................................................................................... 2
Horizontal Datums....................................................................................3
Vertical Datums .........................................................................................7
Coordinate Systems .................................................................. 8
Horizontal Coordinate Systems ............................................................10
Vertical Coordinate Systems..................................................................15
GPS Measurements ............................................................................ 18
Pseudo-Range Positioning..................................................... 18
Differential GPS .......................................................................................18
Differential GPS with Survey Pro......................................... 20
RTK Data Collection.......................................................................... 22
Setting Projection Method ..................................................... 22
Horizontal ................................................................................................23
Vertical......................................................................................................23
Configuring Receivers............................................................ 24
General Hardware Configuration.........................................................24
Base Station Receiver Setup ...................................................................26
Rover Receiver Setup ..............................................................................28
Solving Horizontal Projection ............................................... 29
Localization ..............................................................................................30
Map Projections .......................................................................................42
Solving Vertical Projection .................................................... 43
Localization ..............................................................................................43
Geoid Modeling.......................................................................................46
Ellipsoid Heights .....................................................................................47
RTK Data Collection ............................................................... 48
Measure Mode .........................................................................................48
Data Collection Methods........................................................................49
RTK Stake Out ......................................................................... 53
Projection Utilities.............................................................................. 55
Projection Calculator .............................................................. 55
Scale Factor Calculator ...........................................................................55
Convergence Calculator .........................................................................55
Readjust Points ........................................................................ 56
iii
 Geodetic to Plane..................................................................................... 56
Plane to Geodetic..................................................................................... 57
Managing GPS Coordinates with TDS .......................................... 59
Survey Pro................................................................................ 59
Manual Mode........................................................................................... 59
Edit GPS Control Point........................................................................... 60
Import a .GPS File ................................................................................... 61
Survey Link.............................................................................. 62
File Import................................................................................................ 62
File Export ................................................................................................ 63
Post Processing Data Collection ...................................................... 64
Field Procedure ....................................................................... 64
Set GPS Mode to Post Processing.......................................................... 64
Start Recording in Receiver.................................................................... 65
Data Collection ........................................................................................ 65
Office Procedure...................................................................... 66
Tutorial Jobs ........................................................................................ 67
Localize with Control ............................................................. 67
Reuse Localization Measurements ....................................... 72
Localization Calculator and Geoid Modeling..................... 74
Mapping Plane with GPS and Conventional
Measurements ......................................................................... 78
Trouble Shooting................................................................................ 81
References ............................................................................................ 85

iv
Introduction
This book is divided into two parts. The first part is the users
manual. The second part is the reference manual.
The users manual contains background theory and step-by-step
instructions on how to use Survey Pro GPS. It is divided into a
number of sections. Section one and two contain a discussion of GPS
datums, coordinate systems, and measurements. Section three
describes how to set up GPS hardware and Survey Pro for RTK Data
Collection. Section four describes how to use the included projection
utilities to do geodetic calculations in the field. Section five explains
how to manage GPS coordinates between a Survey Pro job file and
Survey Link. Section six describes how to set up GPS hardware and
Survey Pro for post processing data collection. The final section
contains four tutorial jobs that cover most of the Survey Pro features
and functions. At the end of the users manual are the trouble
shooting guide and references.
The reference manual contains descriptions and illustrations of every
Survey Pro GPS screen. The reference manual is divided into
sections based on the Survey Pro GPS menus. To find the description
of a particular screen, simply refer to the section dealing with that
menu and screen.

1
GPS Coordinates
You need two things to represent positions in space. First, you need a
datum to define an origin and orientation. Second, you need a
coordinate system to specify your location in the datum.
This section contains a description of datums and coordinate systems
common for surveying applications including a description of the
availability of different datums and coordinate systems in TDS
software.

Datums
A datum consists of three basic components: an origin, an
orientation, and a scale. The origin defines the start point, the
orientation defines the direction of the bearings (often with respect to
astronomic north), and the scale defines the relative magnitude of the
distance units. For example, a surveyor shows up at a new job site,
places a nail in the ground and calls it (5000, 5000, 100). The
surveyor has just established the origin of a datum. The surveyor
does a sun shot and calculates the azimuth to a reference object. The
surveyor has just established the orientation of the datum. Finally,
the surveyor begins measuring distances with a total station. The
EDM has just established the scale of the datum.
GPS measurements are taken in a global geocentric datum, the World
Geodetic System of 1984 (WGS84). The WGS84 datum has its origin
at the earths center of mass, its orientation defined by the earths
spin axis and the intersection of the mean meridian of Greenwich
with the mean equatorial plane, and its scale defined by metric
standard measurement.
Geocentric datums like WGS84 often use a rotational ellipsoid to
model the shape of the earth. The WGS84 ellipsoid was based on and
is virtually identical to the Geodetic Reference System of 1980
(GRS80) ellipsoid. The ellipsoid origin is at the earths center of
mass. Its minor axis corresponds with the earths rotation axis and
its major axis corresponds to the mean equatorial plane.
For many surveying applications, the horizontal and vertical datums
are separate. This is the case when the vertical measurements must
be orthometric elevation, which depends on the local gravity field
2
 GPS Coordinates

rather than the earths center of mass. Below are descriptions of

common horizontal and vertical datums used in surveying and
mapping.

Horizontal Datums
North American Datums
NAD27
The North American Datum of 1927 (NAD27) horizontal datum was
established in the early part of the twentieth century to define a
horizontal coordinate system in North America. The datum
originated at a central point, Meades Ranch in Kansas. From there,
conventional triangulation and trilateration networks radiated
outward to establish new monuments in the system. The datum was
based on the Clarke 1866 ellipsoid, which was the best fitting
ellipsoid for the North American continent at the time.
NAD83 = WGS84
Later in the twentieth century, satellite and Very Long Baseline
Interferometry (VLBI) measurements were added to the numerous
conventional measurement networks and re-adjusted to define the
North American Datum of 1983 (NAD83). NAD83 was created to
conform to the new global datum, WGS84 and uses the same
reference ellipsoid.
NAD83 WGS84(1996.0)
Continuing improvements in GPS and VLBI technology as well as
increased cooperation among world wide agencies, like the
International Earth Rotation Society (IERS), led to a much better
solution for the Earths center of mass and spin axis. The IERSs
solution is adopted as the International Terrestrial Reference Frame
(ITRF). Because the earths center of mass and spin axis drift over
time, you will often see the WGS84 datum followed by brackets
(1996.0). The date in the brackets indicates the epoch defining the
datum.

Note: Do not allow all this to confuse you. The significant part of the
datum difference is the origin shift, and you automatically correct

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GPS Users Guide

this when you specify the base station coordinate. Except for high
precision applications, the axes rotations are small enough to be
ignored for GPS differential baselines.

High Accuracy Reference Network (HARN)

The bulk of the measurements used to establish NAD83 were
conventional. These measurements contain slight systematic errors
that conflict with GPS measurements, which are more precise over
long distances. To address this problem in the U.S.A., in 1988 the
National Geodetic Survey (NGS) began to update NAD83 coordinate
datums with HARN GPS surveys on a state-by-state basis. These
HARN surveys determined small (<5cm) corrections to the location of
A and B order control monuments across the states.

International Horizontal Datums

Preprogrammed Datums
Numerous international datums are built into the TDS geodetic
calculation routines. The parameters for each datum come from the
National Imagery and Mapping Agency Technical Report 8350.2.1
The reference ellipsoid constants and the transformation constants
for each datum are contained in Appendices A and B of this report.
Custom Datum Transformation
If you need to use a datum and/or a conformal mapping plane that is
not included in the Survey Pro user interface, you can use TDS
Survey Link to create a custom projection file. Survey Link allows
you to set custom datum transformation parameters to convert from
WGS84 to any user defined system. For more details about custom
projections, refer to the Survey Link manual.

Datum Conversions with TDS Software

GPS coordinates in the Survey Pro job file are always stored in
WGS84 Plane coordinates in the job file are stored in the user
specified datum and coordinate system. When configuring GPS
receivers with reference position, we transform the project coordinate
into WGS84 (lat,lng, ht) to send to the receiver. When calculating
new coordinates from measurements, we transform the WGS84
(lat,lng,ht) into project plane coordinates.

1 http://164.214.2.59/GandG/tr8350_2.html
4
 GPS Coordinates

WGS84 and NAD83

TDS software maintains the convention that WGS84 = NAD83. This
means you can work with either one without needing to worry about
datum transformations. RTK is differential GPS; measurements are
all relative to the base station location. Therefore, you correct the
significant part of the datum difference when you specify a set up
coordinate.

Note: If, for some reason, you need the job file GPS coordinates in
WGS84(ITRF) and the plane coordinates in NAD83, you can use a
custom coordinate system. The transformation between the two
datums is exactly defined by a seven parameter Helmert (similarity)
transformation. For details on using custom coordinate systems, see
Page 42. For the latest transformation parameters, see the NGS web
site2.

NAD83 to NAD27
The compilation of NAD83 revealed errors in the NAD27 datum.
Because of the nature of the conventional measurements used to
establish NAD27, the errors are not consistent across the continent;
the magnitude and direction of the shift is a function of your location.
The procedure to transform NAD83 to NAD27 coordinates in the
U.S.A. involves data files (.las and .los) containing approximate
values for the shifts in each region3. Because these files are
approximations, it is only possible to transform coordinates with a
limited accuracy (0.5 0.15m). However, the shifts will be consistent
over a local area, so the precision of the transformed coordinates is
still appropriate for most surveying applications.

2 Snay, R. How CORS Positions and Velocities Were Derived.

http://www.ngs.noaa.gov/CORS/Derivation.html Appendix B.
3 NGS NADGRD v.1.00 Release Notes

ftp://ftp.ngs.noaa.gov/pub/pcsoft/nadcon/source/readme.grd
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GPS Users Guide

NAD83 to HARN
The compilation of HARN coordinates revealed errors in the NAD83
datum. The errors are not consistent across each state, the
magnitude and direction of the shift is a function of your location.
The procedure to transform from NAD83 to a HARN involves data
files (.las and .los) containing shifts for each region. Because these
files are approximations, it is only possible to transform coordinates
with a limited accuracy (0.05m). However, the shifts will be
consistent over a local area, so the precision of the transformed
coordinates is still appropriate for most surveying applications4.

Note: To perform the NGS NAD27 or HARN transformation, the

*.las and *.los file must be in the directory specified in the Path to
Geodetic Files edit box on the Job, Settings, Projection card.

3D Similarity and Molodensky Transformations

Survey Pro can use a custom coordinate system to transform from
WGS84 to any user defined datum. Survey Link Geodetic module is
used to create a *.CS5 file. This file contains the parameters for
either a seven-parameter similarity transformation or a three
parameter Molodensky geodetic transformation. This file also
contains the parameters for a custom map projection.
The similarity transformation is often used because we can assume
that survey datums have orthogonal axes. One needs to know the
three rotations, three shifts, and the scale difference between the two
datums. The Molodensky transformation is used when only the
origin shifts are known and is not as accurate as the similarity
transform.
For more details on creating a custom coordinate system, see the
Survey Link users manual. For more details on setting up a custom
coordinate system in Survey Pro, see page 42

4 NGS NADCON v.2.10 Release Notes

ftp://ftp.ngs.noaa.gov/pub/pcsoft/nadcon/Readme.txt
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 GPS Coordinates

Note: To use a custom coordinate system, the *.CS5 file must be in

the directory specified in the Path to Geodetic Files edit box on the
Job, Settings, Projection card.

Vertical Datums
GPS satellites orbit the Earths center of mass. On the other hand,
objects on the surface of the planet are affected by the force of the
local gravity field. Although it is possible to accurately model the
orbits of satellites about the Earths center of mass, modeling the
local gravity field is much more difficult because of the unequal
distribution of masses within the earth.
We all know that water flows downhill from a higher elevation to a
lower one. However, water will not always flow from a larger
ellipsoid height to a smaller one. Ellipsoid height is simply the
altitude above the reference surface, and may not match the slope of
the local gravity field. When surveying with GPS, we need to correct
for the local gravity field to convert measured ellipsoid heights (h)
into orthometric elevations (H).

North American Vertical Datums

NGVD29
The first continental height datum in the United States was the
National Geodetic Vertical Datum of 1929 (NGVD29). According to
the technology of the day, this datum was based on normal gravity,
that is, the gravity field at the instrument when it was leveled.
Points along the coast were chosen and their elevation above sea level
was determined from a network of tide gauges. Spirit level networks
were then run across the country and closed on the opposite coast.
This datum contained a number of systematic errors including un-
modeled local gravity effects and refraction errors. Also, it was later
discovered that the mean sea level from the Atlantic to the Pacific
Oceans was not the same.

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GPS Users Guide

NAVD88
In an effort to address these errors, the North American Vertical
Datum of 1988 (NAVD88) was realized from a single datum point in
Rimouski, Quebec. This datum is based on actual gravity, which
provides a better representation of true orthometric elevations. The
primary consideration in the choice of this datum point was to
minimize the recompilation of national mapping products. A side
effect of this choice is that the NAVD88 datum and the theoretical
level surface used to define GRS80 do not agree. The offset between
the NAVD88 vertical datum and the ITRF global geopotential model
is in the neighborhood of 0.27m5.

Note: When doing RTK data collection, all measurements are

relative to the base station. This means you can ignore the small
systematic biases between NAVD88 and the level surface used to
define GRS80. However, if you are doing point conversions with
Survey Link Geodetic Calculator, you need to make sure you select
the correct data file for the desired vertical datum.

International Vertical Datums

EGM96
The National Imagery and Mapping Agency publishes the global
geopotential model EGM966. This geopotential model was used to
generate the worldwide 15-minute geoid height grid data file,
WW15mGH.grd. This file contains geoid separation values at 15-
minute intervals for the entire globe and provides a good estimate of
geoid slope corrections.

Coordinate Systems
A coordinate system is the way one represents positions in a datum.
Coordinate systems range from simple Cartesian (y,x) or (N,E)

5 Milbert D.G. Converting GPS Height into NAVD88 Elevation with

the GEOID96 Geoid Height Model
http://www.ngs.noaa.gov/PUBS_LIB/gislis96.html p. 4
6 http://164.214.2.59/GandG/wgs-84/egm96.html

8
 GPS Coordinates

positions on a flat plane to complex geodetic latitudes and longitudes

on a reference ellipsoid.
Below is a description of some coordinate systems common in
surveying:
Northing, Easting, Elevation
Survey projects usually use simple plane coordinates. We assume our
local datum models a flat earth, and we calculate coordinates in a
Cartesian system where the simple laws of plane trigonometry apply.
When a vertical coordinate is required, most survey projects require
orthometric elevations.
Lat, Lng, Ht
Geodetic horizontal coordinates are usually expressed as two angles
called latitude and longitude (, ). Geodetic vertical coordinates are
usually expressed as the distance above the ellipsoid called height.
The angles describe a points position on the surface of the reference
ellipsoid. The height describes the altitude normal to the surface of
the reference ellipsoid.
Z

h
Gr
nwi ee
c h M eridia n

Y

Equator

Fig. 1: Ellipsoidal Geodetic

Coordinates

ECEF XYZ
Geodetic coordinates are some times given in the Earth Centered
Earth Fixed (ECEF) Cartesian coordinate system. This coordinate
system has its origin at the Earths center of mass, the primary (Z)
axis is the earths spin axis; the secondary (X) axis is the intersection
of the equatorial plane and the mean meridian of Greenwich; the
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GPS Users Guide

tertiary (Y) axis is orthogonal in a right handed system. An ECEF

XYZ coordinate can be converted into the corresponding lat, lng, ht
using standard formulas.

y x
Gr h
nwi ee

z
c h M eridia n

Y

Equator

Fig. 2: Earth Centered Earth

Fixed Geodetic Coordinates

For many surveying applications, the horizontal and vertical

coordinate systems are separate. Below are descriptions of common
horizontal and vertical coordinate systems used in surveying and
mapping.

Horizontal Coordinate Systems

Survey projects use horizontal coordinates on either a local plane or a
map projection. For small projects, you can assume a simple flat
earth plane and calculate coordinates directly with measured
distances. For large projects, a mapping plane is used to accurately
represent the curved surface of the earth on a flat plane and
conventionally measured distances need to be scaled to the mapping
plane grid.

10
 GPS Coordinates

Map Projections
A map projection uses equations to transform latitude and longitude
into (y,x) Cartesian coordinates on a flat plane. Map projections
attempt to minimize distortions to the following properties7:
Conformality
A map projection is conformal when local angles are preserved.
Conformal maps are important for surveying because, for second
order surveys, angles measured on the ground are angles on the map.
Meridians (lines of longitude) and parallels (lines of latitude)
intersect at right angles and shape is preserved locally. The physical
characteristic of conformality is that the scale factor at any point on
the map is the same in all directions.
Distance
A map projection is equidistant when it correctly plots distances from
the center of the projection to any other place on the map. Most map
projections involve some distortion of scale. Consequently, when
converting distances measured on the ground to distances on the grid,
a scale factor must be applied.
Direction
A map projection is azimuthal when azimuths (angles from a point on
a line to another point) are correctly plotted in all directions.
Area
A map projection is equi-areal when it correctly plots areas over the
entire map. That is, all mapped areas have the same proportional
relationship to the areas on the Earth that they represent.

Common Conformal Map Projections in Surveying

Transverse Mercator
The Transverse Mercator (TM) projection results from projecting the
ellipsoid onto a cylinder tangent to a central meridian. Scale
distortion is maximum from east to west and minimum from north to
south, so the TM projection is often used to portray areas with large
north-south extent. Distortion of scale, distance, direction and area
increase away from the central meridian.

7 http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html

11
GPS Users Guide

Many national grid systems are based on the TM projection. The

Universal Transverse Mercator grid system divides the world into 60
6-degree zones. About half of the U.S. states use a TM projection for
their State Plane Coordinate Systems. The British National Grid
(BNG) is a TM projection with origin at 49 degrees north latitude and
2 degrees west longitude.
Oblique Mercator
The Oblique Mercator projection is similar to the Transverse
Mercator projection; the ellipsoid is projected onto a cylinder.
However, instead of the cylinder tangent to the ellipsoid along a
meridian, it is tangent to the ellipsoid along any great circle other
than the Equator or a meridian. This makes the Oblique Mercator
projection appropriate for regions centered along lines, which are
neither meridians nor parallels.
The Oblique Mercator projection is used for Alaska State Plane zone
1, which covers the panhandle.
Lambert Conformal Conic
The Lambert Conformal Conic projection results from projecting a
sphere onto a cone tangent at two (or one) parallels of longitude.
Scale distortion is maximum from north to south and minimum from
east to west, so the Lambert projection is used to map areas of large
east-west extent. Distortion of scale, distance, direction and area
increase as you move away from the standard parallels.
Lambert projections are used for about half of the State Plane
Coordinate System zones in the USA.
Stereographic
The Stereographic projection results from projecting an ellipsoid onto
a plane. Directions are true from the center point and distortions in
scale, area and shape increase uniformly away from the central point.
The stereographic projection is azimuthal.
Because the scale is distorted more or less evenly in all directions,
stereographic map projections are a good representation of a
surveyors typical flat earth ground coordinate system. For this
reason, the stereographic map projection is used by the TDS
localization algorithm to convert (lat,lng) into local ground level
coordinates. For more information on localization, see page 30.

12
 GPS Coordinates

Scale Factors
When converting distances on a map to distances on the ground, you
must correct for two different scale distortions. First, the effects of
the map projection distortion must be corrected with the mapping
plane scale factor. Second, the geometric effect of your height above
the reference surface (ellipsoid height) must be corrected with the
ellipsoid scale factor. Generally, these two scale factors are
multiplied together into the combined scale factor.

Mapping Plane Scale Factor

This scale factor accounts for the distortions caused by the mapping
plane equations as they fit a curved surface onto a flat plane. It is a
function of the mapping plane equations and its exact value depends
on your location on the map. Although the scale factor is computed
with differential equations of the map projection, one can visualize it
in a geometric sense. Consider the following diagrams:
Universal Transverse Mercator Projection
The scale factor at the central meridian (CM) is 0.9996. The scale
factor is 1.0 approximately 170-km east and west of the CM. The
scale factor is less than one between the CM and the point of
tangency. The scale factor is greater than one beyond the point of
tangency. Therefore, at the central meridian, a geodetic distance of
100-m scales into a mapping plane distance of 99.96m.
K=1.0 K=1.0
K>1.0 K<1.0 K>1.0
K=0.9996
Distance on Ellipsoid
Mapping Plane
id
so Distance on Map
pli
El

Central Meridian
Fig. 3: Transverse Mercator Mapping Plane
A side view of the cylinder shows the effect of scale
distortion.

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GPS Users Guide

TDS Localization Stereographic Projection

The scale factor at the base station is 1.0. The scale factor increases
more or less uniformly in all directions as you move away from the
base. The scale factor does not change appreciable within the range
of RTK GPS, so this map projection is an excellent way to model
simple flat earth ground level coordinate systems.

K=1.0
K>1.0 K>1.0 Distance on Map
Mapping Plane

o id
ps
lli
Distance on Ellipsoid
E

Base Station (lat, lng)

Fig. 4: Localization Stereographic Mapping Plane

A side view of the plane shows the effect of scale
distortion.

Distance on
Ellipsoid Scale Factor Ground
Ellipsoid
This scale factor accounts for the height of the ground Height, h
above the reference surface (the ellipsoid). This scale
factor is defined geometrically: Consider the following Distance on
Ellipsoid
diagram: R+h

distground/(R+h) = distelip/R Radius of

Ellipsoid, R
distelip/distground = R/(R+h)
kelip = R/ (R+h)

Fig. 5: Ellipsoid Scale Factor

14
 GPS Coordinates

Note: The radius of the ellipsoid varies slightly with your location
and the azimuth of the line. TDS calculations use the global average
radius of the ellipsoid of 6378000.0 m. This approximation is
sufficient for second order applications using RTK.

Combined Scale Factor

Generally, the two scale factors are multiplied together into a
combined scale factor. The combined scale factor is then applied to
grid distances to get ground distances:
kcf = kelip * kmap
distgrid = distground * kcf

Vertical Coordinate Systems

GPS measurements provide ellipsoid heights. Most survey projects
require orthometric elevations. To convert heights into elevations,
you need to correct for the difference between the surface of the
reference ellipsoid and the level surface representing the gravity
field.
The procedure to convert heights (h) to elevations (H) involves the use
of a geoid model. The geoid is a theoretical surface that approximates
mean sea level. If one knows the separation between the reference
ellipsoid and the geoid, called the geoid undulation (N), then one can
determine orthometric elevations from ellipsoidal heights.

15
GPS Users Guide

Terrain H
h
Geoid N

Ellipsoid h=H+N

Fig. 6: The Height Equation

Geoid Models in TDS Software

Different geoid models are available in Survey Pro for North
American and international coverage.

Note: To use a geoid model, geoid data files must be in the directory
specified in the Path to Geodetic Files edit box on the Job, Settings,
Projection card.

Users in the U.S.A., Mexico, and the Caribbean can use either the
NGS Geoid96 standard *.geo data files or the new NGS Geoid99
standard *.bin files. Because the Geoid99 .bin files are so large,
users can also use Survey Link to generate a smaller local geoid
file from the Geoid99 .bin file. This coverage includes the
continental United States, Alaska, Hawaii, Mexico, and the
Caribbean.
Users in Canada can use the Geodetic Survey Division standard
*.bin data files. This coverage includes both the GSD95 model for
latitudes below N71, and the Arctic96 model for latitudes up to
N89.
Users anywhere in the world can use the NIMA worldwide 15-
minute geoid height grid data file, WW15mGH.grd. This file
covers the entire globe on a 15 x 15 grid. Because the file is very
large, users should use Survey Link to generate a smaller local
geoid file from the WW15mGH.grd file.

16
 GPS Coordinates

Note: The U.S. Geoid99 data files are available free of charge from
the NGS web site8. You can use the NGS files directly on the Ranger.
However, since they are very large (+ 4Mb) you are encouraged to use
the Survey Link function to extract a sub grid from the geoid file.
This will allow you to make a smaller geoid file for your project area.

Note: The Canadian GSD95 and Arctic96 data files are available
from GSD Canada for a license fee. See their web site for more
information9.

Note: EGM96 and the associated data file WW15MGH.grd are

available from the NIMA web site10. You can use the NIMA file
directly on the Ranger (if you have enough memory). However, since
it is very large (+ 10Mb) you should use the Survey Link function to
extract a sub grid from the geoid file. This will allow you to make a
smaller geoid file for your project area.

8 http://www.ngs.noaa.gov/GEOID/GEOID99/geoid99.html
9 http://www.geod.nrcan.gc.ca/products/html-
public/GSDinfo/English/factsheets/gpsht_fact.html
10 http://164.214.2.59/GandG/wgs-84/egm96.html

17
GPS Measurements
This section gives a brief explanation of GPS measurements. First, a
discussion of the basic theory of differential positioning will
familiarize you with different solution types and their expected
precision. Next, step-by-step instructions will describe how to
configure Survey Pro with GPS receivers to perform either Real Time
Kinematic (RTK) GPS or data collection for post processing
differential GPS.

Pseudo-Range Positioning
GPS solutions are computed using pseudo-range positioning: Position
is determined from multiple pseudo-range measurements to different
satellites (or space vehicles SV) at a single measurement epoch. The
position of the GPS receiver antenna is computed by intersecting the
psuedo-ranges from the known SV position in a manner similar to
survey resection. Four SVs are required to determine three position
dimensions and time. Position dimensions are computed by the
receiver in Earth-Centered, Earth-Fixed X, Y, Z (ECEF XYZ)
coordinates.
A pseudo-range solution will be one of two types: autonomous, or
differential. A single GPS receiver can compute an autonomous
position from ranges to four or more SV. This single receiver position
is extremely coarse. One can expect errors in the order of 100-m on a
bad day. For this reason, any precise GPS must be performed using
differential positioning.

Differential GPS
Differential GPS (DGPS) positioning involves subtracting a
combination of ranges measured to various satellites from multiple
receivers. When the signals are subtracted, the major error sources
cancel each other out. However, because you are computing a
difference in ranges, the DGPS measurement solves for a coordinate
difference and not a coordinate. To compute a coordinate using a
coordinate difference, you must specify a starting point.

18
 GPS Measurements

Differential Solutions: Types and Quality

Code Differential
Code differential solutions use the Coarse Acquisition (C/A)
navigation code transmitted on the GPS carrier wave. Because the
wavelength of the code segment is long (300m), code differential is the
least precise differential solution. Accuracies of 1-10 meters are
possible with DGPS using C/A code differential positioning.

Carrier Phase Differential

Highly precise coordinate differences can be measured using pseudo-
range positioning with the carrier signal wave. Because the
wavelength of the carrier wave is only 19 cm, mm level positioning is
possible. When the signal arrives at the antenna, we can measure
the fractional part of the carrier wave. If we can then calculate the
whole number of wavelengths between the SV and the antenna (the
ambiguity), we can add it to the fractional part and multiply by the
length of one cycle to measure a precise range.
Calculating the exact number of wavelengths uses a complicated least
squares process, which is often called ambiguity resolution. The
ambiguity resolution will yield either a float or a fixed solution.
Fixed Solution
We know the number of wavelengths will be a whole number.
Techniques are used to constrain the least squares solution to yield a
whole number. If we get an acceptable solution, we say that this
solution is fixed. A fixed solution will generate coordinate differences
precise to about 15-ppm (single frequency) or 5ppm (dual frequency),
which translates into 15-mm or 5-mm over a 1-km base line.
Several things may prevent you from achieving a fixed solution: bad
multi-path, low number of satellites and bad constellation geometry,
poor radio link for corrections (RTK).
Float Solution
If the constraint algorithm does not produce an acceptable fixed
solution, then the ambiguity is allowed to be a decimal (float)
number. A float solution will generate coordinate differences precise
to about 100 to 500-ppm, which translates into 0.1-m to 0.5-m over a
1-km base line.

19
GPS Users Guide

Differential GPS with Survey

Pro
DGPS requires raw data measured from separate receivers to be
combined into a single range difference. For Real Time Kinematic
(RTK) data collection, the raw data can be broadcast using a radio
link or cell phones and the differential solution is solved in real time.
For Post Processing data collection, the raw data is collected in each
receivers internal memory and downloaded to a PC. Then, software
is used to combine the raw data and produce the differential solution.

Selecting Data Collection Mode

1. Go to Settings from the Job menu.
2. On the Receiver card, select either RTK or Post Process in the
GPS Mode drop down box.

Note: If your receiver does not support post processing data

collection with Survey Pro, this control will be disabled and you can
use RTK mode only.

3. Tap 2. .

RTK Settings
If you are using Survey Pro for RTK data collection, the following
cards of the Job, Settings screen contain settings specific to RTK:
Measure Mode: is where you select the acceptance criteria for
data collection and specify how to store GPS raw data. For more
information see the Reference Manual.
Projection: is where you set your horizontal and vertical
projection type and specify the path to geodetic data files. For
more information see the Reference Manual.

20
 GPS Measurements

Post Processing
If you are using Survey Pro for post processing data collection, the
following settings apply.
Post Process: is where you select the recording interval for
internal raw data recording and where you specify any threshold
monitoring. For more information see the Reference Manual.

21
RTK Data Collection
RTK data collection uses differential GPS corrections broadcast by a
base receiver to solve for coordinates at a rover receiver in real time.
This section describes how to use Survey Pro for RTK GPS data
collection. Topics include:
how to select a projection method
how to configure the base and rover hardware
how to set a base point in the Survey Pro software
how to collect control and check points
how to solve the horizontal and vertical projections

Setting Projection Method

Survey Pro offers a choice of methods for transforming your GPS
measurements into horizontal and vertical coordinates. Your choice
of method will depend on the requirements of your project. The
following section gives detailed instructions for selecting, setting up,
and solving the projection you require.
The chart below will guide you through choosing the correct method.
Once you have chosen a projection method, check the appropriate
section for details on how to correctly configure the settings and solve
parameters. At the end of each section is a detailed description of the
algorithms used for each solution.

22
 RTK Data Collection

Horizontal
If your project:

Contains existing ground level Use localization with control

coordinates from a previous points
survey with no known
relationship to a geodetic datum.
Contains no coordinates; you want Use localization calculator
to create a new ground level
coordinate system starting at your
first mark (5000,5000,100).
Contains existing ground level Use localization calculator
coordinates created by scaling
coordinates from a known
conformal mapping plane.
Contains coordinates calculated Use mapping plane
on a conformal mapping plane.

Vertical
If your project:

Is not covered by an available Use localization

geoid and you have known
elevation benchmarks
surrounding the project.
Is in an area covered by one of Use geoid modeling
the available geoid models and
you need to produce orthometric
elevations.
Is not covered by geoid or known Use ellipsoid heights
benchmarks or if ellipsoid heights
are desired for vertical.

1. Go to Projection from the Survey menu. Tap the Settings button

at the top of the screen to open the Projection card of the Settings

23
GPS Users Guide

screen. Select the appropriate Horizontal and Vertical Projection

Type based on the criteria above and tap OK .
2. If you selected either Mapping Plane or Geoid Model, you can set
them up now. Tap Setup on the Horizontal and Vertical card.
You can also wait and you will be automatically prompted to set
them before the first operation that requires these settings. For
more details on how to set up a mapping plane, see page 42. For
more details on how to set up the geoid model, see page 46.

Note: The projection settings are stored in the *.job file header. The
next time you open this job, the projection will automatically be set
up and you will not have to do this step again.

Configuring Receivers
General Hardware Configuration
1. Connect the power cable or
+ - Power
insert the internal battery into
the GPS receiver. Serial
Serial
Battery
2. Connect the antenna cable. GPS Antenna

3. Plug the data collector serial Receiver

cable into a receiver comm.
port.
4. Plug the radio serial cable into
a receiver comm. port. The
radio may also need external Radio Data Collector GPS Antenna
power. If the radio comm. port
does not supply power, plug Some systems do not require an external battery.
the radio into external power. The baud rates can be different on each serial port.
5. Turn the receiver power on. Fig. 7: General Hardware Configuration
6. Plug the data collector into the
receiver.
24
 RTK Data Collection

7. Go to the Receiver card from the Job, Settings screen. Tap

5HFHLYHU 6HWWLQJV .

Data Collector to Receiver Communications

8. Verify the comm. port settings are correct. On the Receiver card,
tap &KDQJH and then $XWR 'HWHFW .
9. If the port and baud rate detected are not appropriate for your
receiver, correct them now. If this is not the correct port, then
plug the serial cable into the correct port on the receiver and redo
$XWR 'HWHFW . If this is not the correct baud, then select the correct

baud and tap 5HFHLYHU 6HW .

10. Communications is now set. Tap 2.

Receiver to Radio Communications

11. Make sure the baud, parity, and port are correct for the radio. On
the Base/Rover Radio card, verify the settings. If settings are not
correct, tap &KDQJH and set the correct values.

Note: Survey Pro cannot detect the radios serial baud rate. If you
are doing everything else right and you still cannot get a radio link,
you may need to use the PC software provided with your radio to
ensure the radios internal settings are correct.

12. If you are using an internal spread spectrum modem, all of the
fields on the Radio cards should say Internal. To select the
internal modem, tap &KDQJH and select the internal modem mode
from the drop down control.
13. Check the channel of the radio. Tap &KHFN and follow the
prompts to verify radio channel. If the channel is not correct, tap
&KDQJH , select the correct Channel and Sensitivity and then tap

6HW .

General Settings
14. Set the elevation cutoff. On the General card, select the elevation
cutoff to be used when you configure the receiver.
25
GPS Users Guide

15. Set any other parameters specific to your brand and model. On
the General card, different receiver brands have special settings
available.
16. Hardware configuration is complete. Tap 2. twice to return to
the Base Setup screen.

Base Station Receiver Setup

1. Configure the base station hardware.
2. Go to Base Setup from the Survey menu. This opens the Current
GPS Base Station screen where information about the current
setup is displayed. Tap 6HWXS to start the Base Setup wizard.

Pick the Base Point

3. Measure the antenna height and enter either the Slant Height or
True Vertical measurement in the appropriate field.
4. Enter the Radius (if slant height used) and Slant or Vert. Offset
parameters for your antenna type.

Note: If you are using a known antenna type, tap /RDG IURP /LVW to
automatically set radius and offset values.

5. If you want to double-check your measurement, tap 'RXEOH &KHFN .

You will be prompted to enter the measurement in units opposite
of your project units. This value will be compared to your original
measurement and a note written to raw data.
6. Enter a name for the Base Point. In horizontal localization mode,
you can set up on either a new point or a known point. If this is a
new point, type the new point name and Survey Pro will create
the point. In mapping plane mode, you must set up over a known
point.
7. Tap 1H[W .

Set the Base

26
 RTK Data Collection

The final step of the Base Setup wizard will depend on the base point
chosen. If the base (lat, lng, ht) is known or can be computed, the
final step is to SET the base at the known geodetic position. If the
base (lat, lng, ht) is not known, the final step is to GET an
autonomous position to SET the base with.

SET Base at Known Geodetic Coordinate

If you are using localization, the (lat, lng, ht) are recalled from the
*.job file for GPS measured points, or computed from the inverse
localization for conventional points. If you are using a mapping
plane, the (lat, lng, ht) are computed from the plane coordinate.
8. Tap 6(7 to configure the base receiver with this position and
begin broadcasting RTK corrections over the radio link.
9. Depending on your horizontal and vertical projection mode, you
may be prompted to reset or resolve one of the projections. You
can choose to 6ROYH 1RZ or 6ROYH /DWHU .
10. When done, you will return to the Current GPS Base Station
screen where the base station details are displayed.
11. Tap 2. to return to the Survey menu.

GET Autonomous Base Position

If you are using localization, and geodetic coordinates have not yet
been measured from this base point, the base (lat, lng, ht) can be set
with an autonomous position.
8. Tap *(7 3RVLWLRQ )URP 5[ to get an autonomous position from the
receiver. If you wish to get an averaged position, enter a number
in Average position [n] epochs before GET.
9. Check the results displayed in the edit boxes. If it looks good, tap
6(7 to configure the base receiver with this position and begin

broadcasting RTK corrections over the radio link.

10. If the position returned from the receiver looks off, you can redo
the *(7 or you can edit it by hand.

27
GPS Users Guide

Note: Because the localization routine solves everything in a relative

sense, the position used to set the receiver needs only to be
approximate, and an autonomous position is fine.

11. Depending on your horizontal and vertical projection mode, you

may be prompted to reset or resolve one of the projections. You
can choose to 6ROYH 1RZ or 6ROYH /DWHU .

Rover Receiver Setup

1. Configure the rover station hardware.
2. Go to Rover Setup from the Survey menu.
Rover setup procedure depends on how the base was set. If the base
was set with this data collector, then you need to SET the rover with
the known base position. If the base was set with a different data
collector, you need to GET the base position from the radio link.

SET Rover with Known Base Position

3. Measure the antenna height and enter either the Slant Height or
True Vertical measurement in the appropriate field. Enter the
Radius and Offset parameters.
4. Tap 6(7 5RYHU to configure the receiver and begin receiving RTK
base information over the radio link.
5. You will return to the Survey menu when this is complete.

28
 RTK Data Collection

GET Base Position from Radio Link

3. Measure and check the antenna height.
4. Tap *(7 IURP %DVH to receive the base coordinates over the radio
link.
5. If the base coordinate already exists in your job file, then that
point will be chosen by Survey Pro as the base point. If the
coordinate is new to the job file, then you will be prompted to give
this new point a name and Survey Pro will create the new base
point.
6. The Base Setup wizard opens with the chosen Base Point name
displayed.
7. If your receiver does not support antenna height configuration,
Survey Pro will attempt to calculate the height. You must verify
that the values for either True Vertical or Slant Height are correct.
8. Tap 1H[W! and the base position received from the radio link is
displayed. Tap 6(7 to configure the receiver and begin receiving
RTK base information over the radio link.
9. Depending on your horizontal and vertical projection mode, you
may be prompted to reset or resolve one of the projections. You
can choose to 6ROYH 1RZ or 6ROYH /DWHU .
10. When done, you will return to the Survey menu.

Solving Horizontal Projection

Before you can collect data, you must solve the horizontal and vertical
projections. If you are using localization, you must solve for the local
transformation parameters with either measurements to control
points or the calculator functions. If you are using a mapping plane
and geoid model, you must select the desired mapping plane and
geoid model to use.

29
GPS Users Guide

Localization
Horizontal localization is a method to generate ground level
coordinates from GPS measurements. The principle is simple: the
measured GPS coordinate (latitude, longitude) is projected onto a
local stereographic map projection and then transformed into the
local coordinate system with a 2-D similarity transformation. The
transformation scales, rotates, and shifts the coordinates from the
map projection into your local coordinate system.
Survey Pro offers two different horizontal localization methods:
localization with control points and the localization calculator.
Localization with control points computes the scale, rotation, and
shift parameters based on the best fit to your control points. The
localization calculator allows you to calculate the scale and rotation
based on equations and then the shift is determined from either a
measurement to one local point or by setting the base on a known
local point.

Localization with Control Points

Localization with control points is the method used when you want to
generate coordinates in an existing ground level coordinate system,
which has no known connection to a geodetic datum. Localization
parameters are calculated from your measurements to control points.

Note: Survey Pro allows you to select horizontal and vertical

projection methods independently. If you have localization with
control points selected for both horizontal and vertical projections,
then you can solve both solutions simultaneously. If you have any
other configuration (including horizontal localization calculator and
vertical localization), then you need to solve the projections
separately. The procedure below assumes you are using localization
for both horizontal and vertical.

Using Horizontal Localization with Control Points: Summary

Select horizontal and vertical projection methods on
the Projection card of the Job, Settings screen.

30
 RTK Data Collection

Configure the hardware and set up the base and rover

receivers.
Take GPS measurements to a minimum of two
horizontal control points.
Go to Projection from the Survey menu. Tap
/RFDOL]DWLRQ 6HWXS

Select the points to use for horizontal control and tap

6ROYH! .

Verify solution quality. When solution is good, tap

$FFHSW .

Occupy additional local points as check points to

verify solution quality. If desired, additional points
can be added as control points and included in
solution.

Detailed Procedure
1. After choosing the projection settings (see page 22) and
configuring the base and rover receivers (see page 24), go to
Control Points from the Survey menu.
2. Select a control point to occupy and enter the name into the Point
control. Horizontal control points must have a valid (northing,
easting) coordinate in the local system. Vertical control points
may have a valid horizontal coordinate (although it is not used in
the calculation) but must have a valid elevation.

Note: If you select a point from the jobs control file, you will be
prompted to make a local copy of the point. Control point collection
will add a geodetic coordinate to the point record and points in the
jobs control file cannot be modified.

Note: If the Store GPS Raw on the Measure Mode card of the Job,
Settings screen is set to + baselines, when you begin a point
occupation the control point name is checked as a valid site id for the
receiver. If it is not a valid site id, we will use a modified point name
for the receivers internal function and make a note of the modified

31
GPS Users Guide

name in the jobs .RAW file. The point name is Survey Pro is not
changed.

3. Occupy the point and tap &RQWURO 3RLQW to begin data collection.

4. When you are happy with the measurement, tap $FFHSW .

5. Check the Results tab for details of the previous measurement.
Check the Map tab to see the number and position of control
points for this set up group.
6. Collect a minimum of 2 control points to solve horizontal
localization. Collect a minimum of three vertical control points to
solve vertical localization.
7. When you have collected the minimum number of control points,
tap 3URMHFWLRQ to open the Projection screen.

8. Tap /RFDOL]DWLRQ 6HWXS to open the Localization Setup wizard.

Note: If you are using localization for both horizontal and vertical,
then the next screen will look like the illustration below. If you are
using localization for only one of horizontal or vertical, the other
column of the list box will be missing.

9. In the list box, control points collected will

be identified with a H and/or V. Points
marked H will be used to solve horizontal
localization. Points marked with a V will
be used to solve vertical localization. You
can select or deselect any point by
highlighting that point and then: tap the
H and/or V column beside that point; press
H and/or V on the keyboard.

Note: If your base was set up on a known point, you will see that
point as an eligible control point. However, by default, the base is not

32
 RTK Data Collection

selected for horizontal and vertical control because its position is

sometimes calculated instead of measured or known. If the base is a
sensible control point, you can select it manually now.

10. Double check the selection of control

points and tap 6ROYH ! . The
localization parameters are computed
and the results of your solution are
displayed.
11. Examine the scale and rotation values
to verify they are reasonable. See the
explanation of localization parameters
(page 39) to determine what is
reasonable.

12. Examine the RMS Residuals. If you have more than the
minimum number of control points, then the residuals should be
within the measurement precision of the instrument. If you have
the minimum number of control points or fewer, the residuals will
be 0.0.
13. If you have more than the minimum number of control points,
and the solution does not look reasonable, go %DFN to eliminate
and/or add one of your extra points and re-solve. Use this
iterative procedure until you get a reasonable solution.
14. When you are happy with the solution, tap $FFHSW and you return
to the Projection screen.
15. Tap &ORVH to return to the Control Points screen.

Manual Entry of Parameters

If you already know the scale, rotation, and local coordinate of the
base station, you can manually set the localization parameters. This
can be done when you are setting up a second rover on a job site and
you do not have control point information loaded onto the second data
collector.
1. After receiver setup, go to Projection from the Survey menu.

33
GPS Users Guide

2. Tap /RFDOL]DWLRQ 6HWXS to open the

Localization Setup wizard and then tap
0DQXDO 3DUDPHWHUV! at the bottom of the

screen.
3. Enter the Scale, Rotation, and the base
station local coordinate (North, East).

Note: If you are using vertical localization, you

can manually enter the vertical a,b,c
parameters on the Vertical Card.

4. Tap 6ROYH! to compute the a,b,c,d

parameters from entered scale, rotation, and
base station local coordinate. Because there
was no adjustment of measurements, the
RMS Residuals show N/A.
5. Review the results and tap $FFHSW when you
are done.

Localization Calculator
The localization calculator is the method used when you want to
generate ground level coordinates in a system with known geodetic
orientation. Geodetic orientation is known if your job file meets
either of the following criteria: the coordinates were created by
scaling mapping plane coordinates to ground; or, the coordinate
origin was set by the user after the first base station setup. If you
have known geodetic orientation, scale and rotation can be calculated
from formula. The remaining parameters, the shifts, can then be
determined from a single control point (the base was set on a known
local point or the rover occupies one control point).
34
 RTK Data Collection

Using Localization Calculator: Summary

Choose horizontal and vertical projection method in
the settings and configure the base and rover receiver.
Go to Projection from the Survey menu and tap
/RFDOL]DWLRQ 6HWXS

Calculate the Scale and Rotation for your base station

setup.
If you set the base on a known local coordinate, you
are done. Tap 6ROYH! and $FFHSW to finish.
If you set the base up on a new autonomous position,
then tap 2FFXS\ &RQWURO . Select a valid horizontal
control point and occupy it. Tap 6ROYH! and $FFHSW
when you are done.

Detailed Procedure
1. After choosing the projection settings and configuring the base
and rover receivers, go to Projection from the Survey menu
2. Tap /RFDOL]DWLRQ 6HWXS to open the One
Point Setup screen. This screen looks the
horizontal manual parameters screen
except the &DOF 6FDOH , &DOF 5RWDWLRQ , and
2FFXS\ &RQWURO buttons are available.

3. Calculate grid to ground scale factor for

this setup. Tap &DOF 6FDOH to open the
Localization Calculator. Choose a
reference point in the Select Point control.
The base point is chosen by default,
however, if your area of interest is far
removed from your base station, you may want to choose a closer
point.

Note: Scale factor is influenced more by height difference than by

distance from the base. For typical RTK ranges, it is important to
have a reference point with a height close to the survey area.

35
GPS Users Guide

4. Tap 6ROYH 6FDOH! . The Mapping Plane Scale Factor is calculated

at the reference point and displayed. If your reference point is
the base station, the Mapping Plane Scale Factor will be 1.0. If
you are using a reference point away from the base, then the
Mapping Plane Scale Factor will usually be greater than 1.0.
5. Choose a method to compute Ellipsoid Scale Factor. This
calculation requires the height of the reference point above the
ellipsoid. Choose to use Elevation plus Geoid separation, or
ellipsoid height (Ellip. Ht). If these numbers do not agree, you will
be given a prompt before continuing.

Note: Since GPS base positions are often set with an autonomous
GET, which can be +/- 100.0-m or more, this screen gives you the
option of choosing the most accurate value of height to use for the
ellipsoid scale factor. This process does not alter the point record of
the reference point at all.

6. Tap 6ROYH! to calculate the combined scale factor with the

selected values.
7. Examine the results. Tap $FFHSW and the grid to ground scale
factor is returned into the Scale field of the One Point Setup
screen.
8. Calculate the rotation for this setup. Tap &DOF 5RWDWLRQ to open
the Localization Calculator.
8a. If this is a new job, with the base station set up on the first and
only point, you will be prompted to define geodetic origin. You
can choose to either 6HW 2ULJLQ and flag this first base as the grid
origin, or use a .QRZQ 0DS and define the grid based on a
mapping plane.

Note: If you 6HW 2ULJLQ at the first base station, your coordinate grid
will be oriented toward geodetic north through the meridian of the
initial base station setup. For example, if you did a sun shot set up at
the initial base station, the azimuth would agree exactly with the

36
 RTK Data Collection

bearings in the job file. For subsequent base setups or for sun shots
from different points, meridian convergence (rotation) is calculated
from on the set origin.

Note: If you choose to use a .QRZQ 0DS , the grid is oriented parallel
to the grid of the selected mapping plane. For example, if you did a
sun shot at any point; the azimuth would be rotated from the
bearings by the amount of meridian convergence. For base setups,
the rotation is calculated using the meridian convergence for this
point on the known mapping plane.

8b. If this job contains two or more coordinates, and no single

coordinate is flagged as the set origin, you do not have the option
of defining a new orientation. In this case, you must base the grid
on a known mapping plane or switch to localization with control
points.
8c. If this job contains two or more coordinates, and the set origin is
found, then this information will be displayed and rotation will be
calculated based on the set origin.
9. The localization calculator screen will display the information
about grid orientation. Tap 6ROYH 5RWDWLRQ! to calculate rotation
based on your settings.

Note: If you choose to use mapping plane orientation, and you have
not yet selected a mapping plane, you will be prompted to do so when
you tap 6ROYH 5RWDWLRQ! .

10. If you are using a known mapping plane for orientation, the next
screen displays the mapping plane settings as well as the base
station geodetic location. Tap 6ROYH! to calculate the values and
display the results. If you are using a set origin, this page is
skipped and you go directly to the results.
11. Examine the results. The Rotation is the negative of meridian
convergence between your origin (or the maps central meridian)

37
GPS Users Guide

and the base point. Tap $FFHSW and the rotation is returned into
the Rotation field of the One Point Setup screen.
12a. If you set your base up on a known point, then the base station
coordinates are already entered into the Base Station Local
Coordinate fields. Tap 6ROYH! to calculate the localization
parameters. Tap $FFHSW to finish setup and return to the
Projection screen.
12b. If you set your base up on a new point, you need to tap
2FFXS\ &RQWURO . You will be prompted to make sure your Scale

and Rotation are correct before the Control Points screen is

opened. You need to select and occupy a single control point.
When you are done, tap $FFHSW to return to the One Point Setup
screen and the calculated coordinates are returned to the North
and East fields.
13. Tap 6ROYH! . Examine the results and tap $FFHSW when you are
done.

38
 RTK Data Collection

TDS Localization Parameters Explained:

N
The TDS localization mapping plane is a
Rotation Angle stereographic projection with the
following parameters:

c,
d o Origin is at the base station location
Localization False northing and false easting of
,

o
a, b

Mapping
100000.0 m
Plane Origin
o Scale at center of projection of 1.0

The 2D similarity transformation uses

the following equations to convert
Local Coordinate stereographic mapping plane coordinates
System Origin into local coordinates:
Fig. 8: Horizontal Localization
o Local_East = a * Stereo_x + b
(2D Similarity Transformation)
Stereo_y + c;
Parameters (a,b,c,d) transform o Local_North = a * Stereo_y - b *
stereographic mapping plane Stereo_x + d;
coordinates into local
coordinates. The a and b parameters are the components of
rotation and scale and are related to scale and
rotation with the following equations:
o GpsScale = ( a2 + b2);
o GpsRotate = arc tan( b / a) ; // corrected for quadrant

The c and d parameters are the easting and northing shifts and
are calculated with the following equations:
o c = Base_East - (a * Stereo_False_E + b * Stereo_False_N);
o d = Base_North - (a * Stereo _False_N b * Stereo _False_E);

Scale Factors and Rotation Explained:

The scale factor solved by the localization calculator is the
combined scale factor for the reference point.

39
GPS Users Guide

Note: You must supply a reasonable value for ellipsoid height to use
in computation of the ellipsoid component of the combined scale
factor. If you set the base with an autonomous GET, you should
make sure the returned height value is close to the actual value.

The scale factor solved by localization with control points is the

scale factor to get the best fit between the TDS stereographic
mapping plane and the ground coordinate system via the
similarity transform. It should be close to what would be
computed above.
If the coordinate datum is oriented toward geodetic north at its
origin, the rotation is the negative of meridian convergence
between the origin longitude and the base station longitude (the
central meridian of the TDS stereographic map projection).
If the coordinate system has arbitrary orientation, the rotation is
the negative of the meridian convergence plus the rotation
between geodetic north and local grid north at the origin.

Localization Setup Groups

When you set up different base stations with autonomous positions
from a GET, each positions is only accurate to +- 100m. Geodetic
coordinates measured from your first autonomous base will not be
accurately connected to geodetic coordinates from a different
autonomous base. Although the localization parameters will
accurately transform both sets of data to the local coordinate system,
it is not possible to compare the geodetic coordinates from the
different sets of data.
Survey Pro solves this problem by assigning a set up group each time
a new autonomous base is set. A set up group is a unique flag
attached to each point record generated by GPS. Setup groups are
assigned as follows:
When you set a new base point with an autonomous GET, Survey
Pro creates a new set up group for this point.
When you collect geodetic measurements, each new point is
assigned the set up group of the current base station.

40
 RTK Data Collection

When you set the base on an existing point with geodetic

coordinates, the points existing set up group is used as the new
base station set up group.
When you set the base on a point with existing plane coordinates
and compute geodetic coordinates using the Move Base
algorithm, the existing base station set up group is used as the
new base station set up group.

Quality of Localization Solution:

It is impossible to transform geodetic measurements into a local plane
coordinate system without some distortions. The largest source of
systematic error comes from approximating a plane where scale is
constant (local system) with a plane where scale changes (TDS
stereographic projection). Therefore, when using the localization
algorithms, the following guidelines need to be followed:

Quality of control points: for localization with control points, the

control point coordinates should be at least as precise as the
specified survey requirements.
Geometry of control points: for localization with control points,
the control points should be distributed surrounding the survey
area.

Fig. 9: Good Control Point Geometry
Three control points surround the
project area.
Fig. 10: Poor Control Point
Geometry
Three control points in one corner of
the project area. Also, for vertical
localization, the three control points
are close to co-linear.
41
GPS Users Guide

Choice of reference point: for the localization calculator, the

reference point for scale calculation should be close in horizontal
and vertical location to the survey area.
Check points: after solving for localization parameters with a
minimum number of control points, or after calculating
parameters with the localization calculator, you should occupy an
independent check point to verify the solution quality. If you
desire, this point can be added as a control point and used for
subsequent solutions. If the check point measurement is within
the tolerance, this step should not be necessary.
Redundancy and residuals: After solving localization parameters
with more than the minimum number of control points, you
should examine the solution residuals. The residuals should be
close to the measurement precision of your instrument and the
control points.

Map Projections
Map projections are a method to calculate horizontal plane
coordinates directly from latitude and longitude. The user simply
needs to specify what datum, coordinate system, and zone to use and
then equations can compute the mapping plane coordinates directly
from the ellipsoid coordinates and visa versa.

Setting Up the Map Projection

1. Set the Horizontal Projection Type on the Job, Settings, Projection
card to Mapping Plane,
2. Go to Projection from the Survey menu.
3. Tap 0DSSLQJ 3ODQH 6HWXS on the Horizontal card.
4. Select the Region, Coordinate System, Datum, and Zone for your
mapping plane.

42
 RTK Data Collection

Note: The Region setting is simply used to reduce the number of

choices in the user interface. The Region can be set to either U.S.A
(NGS) or International. Different options for Coordinate System, Datum,
and Zone will be displayed depending on this setting. Choose U.S.A if
you are using a state plane coordinate system or any of the NGS
supported North American datum transformations. Choose
International for everything else.

4b. If you are using a mapping plane not contained in the list, you
can use a custom map projection. In the Coordinate System field,
select Custom.
4c. Tap 6HOHFW &XVWRP )LOH and choose either the *.PJ5 or the *.CS5
file defining your custom projection. For more information on
custom projections, see the Survey Link manual.
5. Tap )LQLVK to set the projection.

Note: When using certain mapping planes involving a datum

conversion, files are required for the calculations. When required,
you must enter the correct path in the Path to Data Files edit box on
the Job, Settings, Projection card. The default path is
\DISK\TDS Geodata.

Solving Vertical Projection

Localization
Vertical localization is a method to correct for the difference between
local elevations and ellipsoid heights. The algorithm involves
calculating the parameters for a plane that models the shift and slope
difference between the reference ellipsoid and the local geoid.

Localization with Control Points

Using Vertical Localization: Summary
43
GPS Users Guide

Select horizontal and vertical projection methods on

the Projection card of the Job, Settings screen.
Configure the hardware and set up the base and rover
receivers.
Take GPS measurements to a minimum of three
vertical control points.
Go to Projection from the Survey menu. Tap
/RFDOL]DWLRQ 6HWXS

Select the points to use for vertical control and tap

6ROYH! .

Verify solution quality. When solution is good, tap

$FFHSW .

Occupy additional control points as check points to

verify solution quality. If desired, additional points
can be added as control points and included in
solution.

Detailed Procedure
The field procedure for vertical localization is identical to the
horizontal procedure. See page 30 for more details.

TDS Vertical Localization Parameters Explained

The TDS localization mapping plane is a stereographic projection

with the following parameters:
o Origin is at the base station location
o False northing and false easting of 100000.0 m
o Scale at center of projection of 1.0

Vertical localization uses the following equation:

o LocalElevation = h + (vert_a * Stereo_x + vert_b * Stereo_y +
vert_c );

44
 RTK Data Collection
Normal
Normal to to Geoid
Ellipsoid
Deflection (a,b)

(0, 0) on Localization
rfa ce
Mapping Plane Geoid Su
S u rfa ce
Ellipsoid
Fig. 11: Vertical Localization
Three control points calculate a plane to model the deflection and shift
between the geoid and ellipsoid surface.

The a and b parameters are the deflection of the vertical in the

easting and northing directions. In geodetic terminology they are
often called xi ()and eta ().
The c parameter is the separation calculated at the stereographic
mapping plane origin: (0,0).

Note: The c parameter is not the geoid separation at the base station
location. The c parameter is the separation calculated at (0,0) of the
localization mapping plane. The separation at the base station and
the deflection angles are used to calculate the separation at the
coordinate origin in order to work in the above equation.

Localization Quality of Solution:

It is impossible to transform ellipsoid heights into elevations without
some distortions. The largest source of systematic error comes from
using a simple plane with constant slope to approximate the geoid
surface, which has variable slope. Although this approximation is
valid for small local areas, for larger surveys, careful field procedure
must be followed to minimize errors. See the section on horizontal
localization (page 39) for a discussion on the quality of localization
solutions.

45
GPS Users Guide

Geoid Modeling
Geoid modeling is a method to correct for the difference between local
elevations and ellipsoid heights. The procedure calculates the value
of geoid separation (N) at any point by reading values for surrounding
points from a geoid data file and interpolating.

Selecting a Geoid Model

1. Set the Vertical Projection Type on the Job, Settings, Projection
card to Geoid Model,
2. Go to Projection from the Survey menu.
3. Tap *HRLG 0RGHO 6HWXS on the Vertical card.
4. Select the geoid model to use.
5. Tap )LQLVK to set the geoid model.

TDS Geoid Modeling Explained

The height equation allows us to convert the height of a point into
elevation using the geoid separation. However, differential GPS does
not measure a points height, but rather the height difference from
the base to the point. Since the exact ellipsoid height of the base
point is seldom known, we need to modify the height equation to solve
everything relative to the base station. Manipulating the height
equation (see page 16), we get:
h=H+N (1)
h2 h1 = (H2 + N2) (H1 + N1) (2)
H2 = H1 + (h2 - h1) (N2 - N1) (3)
H2 = H1 + dh dN (3b)

Using equation (3b), the elevation at the rover equals the elevation at
the base, plus the height difference measurement, minus the geoid
separation difference. Examining the equation, we see that the rover
elevation is solved relative to the base elevation. This holds true for
both a base with an accurate elevation and a base at an arbitrary
elevation.

46
 RTK Data Collection

Remote Elevation
If you set your base on a known benchmark, then you can begin
collecting data right away. However, if your base station is on a new
point, then you need to calculate the elevation of the base before you
can collect new data. You can use the Remote Elevation function to
calculate base station elevation from a measurement to a single
benchmark.
1. Set up the base and rover receivers.
2. Go to Remote Elevation from the Survey
menu.
3. If your benchmark is a point in the job file,
tap Occupy Point and select the point in the
Benchmark field.
3b. If your benchmark is not in the job file, tap
Occupy Benchmark Elevation and enter the
correct elevation in the field.
4. Occupy the benchmark with the rover and
tap 2FFXS\ %HQFKPDUN to begin
measurements to the point.
5. When you are happy with the measurement, tap $FFHSW . You will
return to the Remote Elevation screen and the base stations New
Elevation Calculated is displayed.
6. Examine the result and tap Accept when done.

Ellipsoid Heights
Ellipsoid height is a method that stores the uncorrected height
measurement as the vertical coordinate. Use ellipsoid heights if the
vertical is not important to the project, or when you intend to
transform heights to elevations in the office using a separate
program.

47
GPS Users Guide

Selecting Ellipsoid Heights

1. Set the Vertical Projection Type on the Job, Settings, Projection
card to Ellipsoid Height.
2. Tap 2. . The vertical projection is now set.

RTK Data Collection

Once your horizontal and vertical projections are solved, you are
ready to collect data. The different measure mode settings and data
collection options are described below.

Measure Mode
1. Go to Data Collection from the Survey menu. Tap 6HWWLQJV at the
top of the screen.
2. Select an Acceptance Mode.
Coarse mode allows you to accept any code, float or
fixed solution.
Fine mode allows you to accept fixed solutions only.
3. Set the Acceptance Criteria.
Acceptance Criteria is used to check each solution you
accept. If the measurement exceeds the criteria, you
will be prompted to accept or reject the point. Check
this box if you want to enable criteria checking. Enter
a maximum value for HRMS, VRMS, and/or PDOP in
the fields. Only fields with a non zero value will be
used for criteria checking.
To accept data points automatically using the selected
criteria, check the Use Criteria to Auto Accept Data
Points box at the bottom of this page.
4. Select method to use to Store GPS Raw data.
Select lat,lng,ht to store just the EP and GS records in
the jobs *.RAW file.

48
 RTK Data Collection

Select + variances to store the EP, GS, and CV records

in the jobs *.RAW file.
Select + baselines to store the EP and GS records in
the jobs *.RAW file as well as storing the raw base
line measurement in a receiver specific format in a
separate file.

Note: Raw data types + variances and + baselines are only available
when Acceptance Mode is set to Fine. Coarse mode supports
collection of lat,lng,ht only.

5. Tap 2. to return to the Data Collection screen.

Data Collection Methods

Data Point
Use this method if you want to occupy points one at a time.
1. Go to Data Collection from the Survey menu.
2. Enter a point name in the Point field. If this point already exists,
you will be prompted to overwrite or choose the next available
point.

Note: If you have Store GPS Raw set to +baselines, your point name
must be a valid Site Id for the receiver model. If your point name is
not valid, you will be prompted to change it.

3. Enter a Description.

Note: If you have Prompt for Description selected on the Surveying

card on the Settings screen, then you can skip this and you will be
prompted for a description after you take the measurement.

49
GPS Users Guide

4. Tap 3RLQW to begin measurement. The receiver dynamics are

switched from motion to static (for Fine mode) and a site
occupation begins.
5. The Occupy Data Point screen is updated with the local
coordinate calculated from the measurement. When you are
satisfied with the measurement tap $FFHSW to return to the Data
Collection screen
6. Check the Results tab for details on the last measurement.
Check the Map tab to see the points plotted as they are stored.

Offset Point
Use this method if you cannot occupy a point directly, but you can
occupy a location close by and provide an azimuth and distance to the
point.
1. Go to Data Collection from the Survey menu.
2. Enter a point name in the Point field. If this point already exists,
you will be prompted to overwrite or choose the next available
point.
3. Enter a Description.

Note: If you have Prompt for Description selected on the Surveying

card on the Settings screen, then you can skip this step because you
will be prompted for a description when you accept the point.

4. Tap 2IIVHW . The Offset Shots screen opens with the entered point
name and description.
5. Tap 2FFXS\ *36 to occupy the reference point. The receiver
dynamics are switched from motion to static (for Fine mode) and a
site occupation begins. When you are happy with the
measurement, tap $FFHSW to return to the Offset Shots screen.

Note: You can enter the offset data before or after you occupy the
reference point with GPS.

50
 RTK Data Collection

6. Enter the distance from the reference point (occupied with GPS)
to the offset point. You can enter the distance by hand or you can
get it from the selected conventional instrument by tapping 6KRRW
/DVHU .

Note: You have to switch to conventional mode to configure the laser

range finder or total station.

7. Enter the direction (azimuth/bearing) from the reference point to

the offset point. You can enter a direction in one of the following
ways:
Using the horizontal angle returned from the
conventional instrument if you took a shot.
By occupying a point on line with the reference point
and the offset point. After you occupy the reference
point, tap 'LUHFWLRQ IURP 7ZR 3RLQWV and then occupy a
point on line with the reference point and the offset
point. When you are done occupying the on line point,
you will be prompted for the direction to your offset
point.
Entering a value by hand.
8. Tap $FFHSW to store the point.

Note: You can accept multiple points from a single occupied GPS
reference point. Tap &ORVH when you are done storing points.

Feature Collection
Use this method if you want to collect multiple points using either a
measurement interval or by manually accepting each point. You can
select from five different data collection modes.
1. Go to Data Collection from the Survey menu.
2. Enter a point name in the Point field. If this point already exists,
you will be prompted to overwrite or choose the next available
point.
51
GPS Users Guide

Note: If you have Store GPS Raw set to +baselines, feature collection
will not store base line records because there is no discrete site
occupation of each point. Therefore, the point name does not need to
be a valid Site Id.

3. Enter a Description.

Note: For continuous data collection, once the first point is accepted,
all additional points will be stored with the same description. If you
do not enter a description from the first screen, you will be prompted
to do so after you accept the first point and that description will be
used for subsequent points. The exception is when the mode is set to
Manual: mulit descriptions. In this case, you will be prompted for
description after every point.

4. Tap )HDWXUH . On the Feature Collection screen, select a Method.

An explanation of the selected method is displayed at the bottom
of the screen. See the reference manual for more information.
5. If you select a continuous method, you must specify an
appropriate Interval.
6. Tap 6WDUW to begin measurements. The Occupy Data Point screen
displays the local coordinate.
7. When you are ready to begin continuous collection, tap $FFHSW .

8. If you are using a continuous interval, $FFHSW disappears and

points are stored when the interval is exceeded.
9. If your mode is Manual, tap $FFHSW when you want to collect a
point. If your mode is Manual: multi descriptions, you will be
prompted for a description for each point.
10. If you want to see a list of points stored so far, tap 9LHZ 3RLQWV .

11. Tap 'RQH to end feature collection and return to the Data
Collection screen.

52
 RTK Data Collection

Note: When doing continuous data collection, if your interval is

exceeded, but your acceptance criteria or RMS criteria are not met,
then you will be prompted to Accept the point anyway or to Wait for
the measurement to pass. If you choose to Wait, and then Cancel, you
will be prompted to Accept the point anyway or to Exit.

RTK Stake Out

Stake out with GPS is very similar to stake out with conventional
instruments. See the users manual for details on the different
staking procedures. Below is a description of the two special features
of stakeout with GPS.
!5RYLQJ / !2FFXS\LQJ

1. When you first start any GPS staking screen, measurements are
started in the GPS receiver in dynamic (moving) mode. This is
necessary as you navigate to the design point, and is indicated on
the screen with the toggle button in the !5RYLQJ position.
2. When you arrive at the design point, if you want to take a more
precise measurement, you need to switch to !2FFXS\LQJ mode.
This will switch the receiver dynamics from motion to static (Fine
mode only) and initiate a site occupation for base line collection (if
your raw data type is set to +baselines).

Note: If your raw data type is set to +baselines, when you switch to
occupying, you will be prompted for a point name and description and
the point will automatically be stored in the Survey Pro files and in
the separate base line file when you accept the measurement. If you
are not using +baselines, you need to manually store the point on a
following screen after your site occupation.

 +] 0RGH

53
GPS Users Guide

1. When you first start any GPS staking screen, measurements are
started in the GPS receiver in one Hz mode. If your receiver
supports it, you can switch to five Hz mode by checking this
control. This will configure the receiver to calculate positions five
times a second and the display will update in near real time.

Note: Five Hz mode is for quick navigation to the point, it does not
provide the most precise solution of coordinates. When you switch
from roving to occupying, the receiver is automatically switched to
one Hz mode.

54
Projection Utilities

Projection Calculator
The Projection Calculator screen is available when you are using a
mapping plane for your horizontal projection. You can use the
Projection Calculator to calculate combined scale factor for scaling
conventional distance measurements to the mapping plane. You can
also use the Projection Calculator to calculate meridian convergence
for reducing geodetic azimuths (like a sun shot) to grid bearings.

Scale Factor Calculator

1. Go to Projection Calculator from the Survey menu.
2. Choose a point on the mapping plane for scale computation in the
Select Point control. Tap 6ROYH 6FDOH! .
3. The Mapping Plane Scale Factor is calculated at the reference
point and displayed.
4. Choose a method to compute Ellipsoid Scale Factor. This
calculation requires the height of the point above the ellipsoid.
Choose to use Elevation plus Geoid separation, or ellipsoid height
(Ellip. Ht). If these numbers do not agree, you will be given a
prompt before continuing.
5. Tap 6ROYH! to calculate the combined scale factor with the
selected values. The combined scale factor is displayed in the
Ground to Grid box. The inverse combined factor is displayed in
the Grid to Ground box.
6. Tap $FFHSW when you are done. Both numbers are saved in the
Past Results list so you can use them in other calculations.

Convergence Calculator
1. Go to Projection Calculator from the Survey menu.

55
GPS Users Guide

2. Choose a point on the mapping plane for convergence

computation in the Select Point control. Tap 6ROYH 5RWDWLRQ! .
3. The convergence and rotation are calculated. The convergence is
displayed in the Geodetic N to Grid N box. The rotation is
displayed in the Grid N to Geodetic N box.
4. Tap $FFHSW when you are done. Both numbers are saved in the
Past Results list so you can use them in other calculations.

Readjust Points
The Readjust Points screen is used to perform transformations from
geodetic to plane coordinates and vice versa.

Geodetic to Plane
This function can be used with all horizontal and vertical projection
modes. It will take the GPS coordinates for selected points and
recompute the plane coordinates based on the latest projection
parameters.
1. Go to Readjust Points from the Survey menu.
2. Select some points to readjust.
3. Tap the Adjust Horizontal and/or Adjust Vertical check boxes to
specify what to adjust.
4. If you are using geoid modeling, select to Use Geoid model
corrections either Relative to Base or Direct Point. Use the geoid
Relative to Base to calculate elevations using ellipsoid height
differences relative to the base point elevation. This is the
algorithm used for RTK operations. Use the geoid with Direct
Points to calculate elevation directly from ellipsoid heights.
5. Tap *HRGHWLF WR 3ODQH! . You will be warned that coordinates will
be changed. If you are sure you are ready to proceed, tap 2. .

56
 Projection Utilities

6. The final page displays the results. The Results box displays the
number of points adjusted. If some points were not adjusted, a
list of these points and an explanation why they were not
adjusted is displayed.

Reasons Points are Not Adjusted

Setup Group Not Compatible: If you selected a point that does
not belong to the current set up group, then it is not adjusted. If
the set up groups do not match, we cannot be sure the geodetic
coordinates are accurate with respect to the current projection
solution.
Geodetic Coordinates Not Valid: If you selected a point without a
geodetic coordinate, it is not adjusted. Without geodetic
coordinates, we cannot re-calculate a new plane position.
Control Point: If you have selected a control point it is not
adjusted. Control point locations cannot be modified.

Plane to Geodetic
This function can be used only with mapping plane and/or geoid
modeling. It will take plane coordinates and perform a reverse
transformation based on the selected projection.
1. Go to Readjust Points from the Survey menu.
2. Select some points to readjust.
3. Tap the Adjust Horizontal and/or Adjust Vertical check boxes to
specify what to adjust.

Note: The Use Geoid control is not needed for 3ODQH WR *HRGHWLF! .
Plane to Geodetic readjustment will calculate all ellipsoid heights
directly from elevation and geoid separation.

4. Tap 3ODQH WR *HRGHWLF! to open the second screen. You can choose
to &KHFN! or 5HFDOFXODWH! point coordinates.

5. Tap &KHFN! if you want to compare the plane coordinates to the

geodetic coordinates. The projection will be applied to the GPS
57
GPS Users Guide

coordinate and the result will be compared to the plane

coordinate. This operation does not change coordinate records.
5b. Tap 5HFDOFXODWH! to generate new GPS coordinates based on the
plane coordinates. This action will change point records and you
will be prompted to ensure you are ready to proceed.
6. The final screen displays the results. The Results box displays
the number of points checked or adjusted. If you checked points,
the Results box also displays the horizontal and/or vertical error
and if any points were not checked. If you adjusted points, and
some points were not adjusted, a list of these points and an
explanation is displayed.

Reasons Points are Not Checked or Adjusted

Coordinates Not Valid: If you selected a point that does not have
a valid (northing, easting) and/or elevation coordinate, it is not
checked or adjusted.
No Geodetic Coordinates for Comparison: If you have selected a
point without a geodetic coordinate, it is not checked. Without
geodetic coordinates, we cannot re-calculate a comparison plane
position.
Control Point: If you have selected a control point it can be
checked, but it cannot be readjusted. Control point locations
cannot be modified.

58
Managing GPS
Coordinates with TDS
Survey Pro for Windows CE uses a binary file with the extension
*.job. A .JOB file point record will contain a point name, plane
location (N, E, Z), and a description. It may also contain geodetic
coordinates for points calculated, imported, or measured with GPS, as
well as poly lines, alignments and other line work connections.
This section describes different ways to manipulate geodetic
coordinates with both Survey Pro and Survey Link. Survey Pro
Manual Mode and GPS Control Point editing describe how to edit and
utilize geodetic coordinates for projection calculations. Import GPS
Coordinates describes how to merge a *.CR5 file and the *.GPS file
generated with a DOS localization. Survey Link Import and Export
describe how to use Survey Link to convert sets of plane and geodetic
coordinates to and from ASCII and/or CR5 files.

Survey Pro
Manual Mode
You can use Manual Entry mode to perform all projection calculations
without the need to connect to a receiver.
1. Go to Settings from the Job menu and select Manual Mode for
receiver Brand and Manual Entry for receiver Model.
You can do the following procedures with manual entry:
Base Setup: You can set the base on any existing point from the
job file. You can also set the base on a new point (localization
only) and enter the autonomous position by hand. In Manual
Entry mode, the Current GPS Base Station screen contains a
&OHDU button. Use this button to void the current base setup.

GPS Control Point: You can occupy a localization &RQWURO 3RLQW

and hand enter a geodetic location.

59
GPS Users Guide

GPS Check Point: You can occupy a check point and hand enter
a geodetic location. The local coordinate of your entered geodetic
location is compared to the selected point and displayed on the
Results tab.
GPS Remote Elevation: You can occupy a remote elevation
bench mark (point or elevation) and hand enter a geodetic
location. This routine will recalculate the base point elevation
using the measurement to the bench mark.

Edit GPS Control Point

You can use (GLW 3RLQW on the Control Points screen to manipulate the
geodetic coordinate and flags of any existing point in the project.
1. Go to Control Points from the Survey menu.
2. Select the existing point you want to edit in the Point field and tap
(GLW 3RLQW .

3. The Edit GPS Point screen displays the current local coordinate
of the point and allows you to edit the geodetic location.
4. Tap 6HW )ODJV to open the Edit GPS Point Flags screen. This
screen allows you to edit the flags associated with GPS points:
Set up group: This flag identifies groups of points collected
from an autonomous base setup. For more information on set
up groups, see page 39.
GPS Control Point H/V: These flags identify points to be
included in the localization control point list and whether to
use those points for the horizontal and/or vertical solution.
For more information on set up groups, see page 30.
Localization Calculator Flag: This flag applies only when
using the localization calculator. If your local grid is not
based on a mapping plane, you flagged the first base point as
the origin of the local grid. For more information on using
localization calculator and the local grid origin, see page 34.
5. Tap $FFHSW on either page when you have entered the new values
and are ready to accept the point.

60
 Managing GPS Coordinates with GPS

6. If you have made any changes to the point, you will be warned of
the possible consequences and, if necessary, prompted to reset the
base point and/or projection.

Import a .GPS File

You can use Import Coordinates from the Job menu to merge DOS
control point measurements (in a *.GPS file) with the local plane
coordinates in a job file.
1. Open the job with the projects plane coordinates. You can open
the *.CR5 file directly and it will be converted into a .job file or
you can open a new .job file and import the CR5 coordinates.
2. Go to Import Coordinates from the Job menu. For file Type,
select, (*.GPS) and pick the *.GPS file associated with the plane
coordinates.
3. Specify the units of the *.GPS file (for the heights) and tap OK.
4. The GPS coordinates and control point flags for each point in the
*.GPS file will be merged with the plane coordinates for the
corresponding points.
5. If you have more than one *.GPS file associated with a set of
coordinates, you can import them one at a time. The coordinates
from each .GPS file will be assigned a unique set up group so you
can use them for different localization solutions.

Note: If duplicate points are found, you will be prompted to

overwrite or rename. If you choose to rename, a new point is created
with the original plane coordinate and the new geodetic coordinate.

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GPS Users Guide

Survey Link
File Import
To create a .CR5 or an ASCII text file from a .JOB file, go to Survey
Pro CE Import/Export from the Transfer menu.
1. Enter the Job file name of the job to import.
2. Specify the Distance units of the coordinates to generate.
3. Specify what part of the point record you wish to import: the
plane (NEZ) coordinates or the GPS (Lat, Long, Ht) coordinates.
4. Specify if you want to create a .CR5 or an ASCII text file.
5. Enter the File name of the file to be created.
6. Press ,PSRUW .

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 Managing GPS Coordinates with GPS

File Export
To create a .JOB file from either an ASCII text file or a .CR5 file, go
to Survey Pro CE Import/Export from the Transfer menu.
1. Specify the Distance units of the coordinates to export.
2. Specify the point record type of the input file. Choose (Lat, Long,
Ht) to create GPS point records. Choose (N, E, Z) to create
standard point records.

If you export a job file with GPS point records, records will be created
with the geodetic coordinates from your input file and a default plane
coordinate of (0.0, 0.0, 0.0). You can then use the Readjust Points
function to generate mapping plane coordinates for the exported
geodetic coordinates.

If you export a job file with plane point records, records will be
created with the plane coordinate only.

3. Specify the file format, .CR5 or ASCII, of the input file.

4. Enter the File name of the file to be created.
5. Press ([SRUW .

63
Post Processing Data
Collection
Post processing data collection uses GPS raw data stored in the
receivers internal memory. Raw data from multiple receivers is
combined and then PC software is used to process the base line
measurements. The following section describes how to start
recording raw data in the receiver internal memory and how to collect
static and stop and go sessions in the filed.

Field Procedure
Set GPS Mode to Post Processing
6. Go to Settings from the Job menu.
7. On the Receiver card select Post Process in the GPS Mode list
box.
8. On the Post Process card, select a Recording Interval to define
the receivers internal recording epoch. Recording Interval
must be greater than None.
9. If you want to use the Survey Pro threshold manager to warn
you when data collection conditions are poor, check Use
Threshold Manager. Enter the desired Satellite, HDOP, and
Memory thresholds. You will be warned when these
thresholds are exceeded.
10. Tap 2. .

64
 Post Processing Data Collection

Start Recording in Receiver

1. Go to Receiver Setup from the Survey menu.
2. The Receiver Setup: Post Processing screen displays the current
status of data logging in the receiver.
3. Tap &KDQJH 6HWWLQJV to select a new Rec Interval or Threshold
values.
4. Tap &KDQJH $QWHQQD to enter measured antenna height values.

5. Tap 6WDUW 5HFRUGLQJ to create a new file in the receiver memory

and begin logging GPS raw data.
6. Tap 6WRS 5HFRUGLQJ to close the file and stop logging GPS raw
data.

Note: Tapping 6WDUW 5HFRUGLQJ only begins the logging of raw data to
the receiver internal memory. It does not send an event marker to
indicate a site occupation has begun. You will be prompted to go to
Start/Stop Session to start a session.

Data Collection
1. Go to Data Collection from the Survey menu.
2. The Data Collection: Session Info screen displays the current
session info. If Use Threshold Manager is turned on, any
warnings are displayed in the Threshold Warnings box.
3. Tap 6WDUW  6WRS to begin a site occupation.
4. Enter a Site ID and Description for this point.

Note: If the Site ID or description is not valid for your model of

receiver, you will be prompted to modify them.

65
GPS Users Guide

5. Enter a Duration for this session. If you enter 0 or if you check

Log Until Stop, the session will continue until you tap 6WRS .

Note: If your receiver model remembers post-processing events, you

can start a session with a specified duration, exit this screen, and the
receiver will automatically end the session on time. If your receiver
does not remember post-processing events, you must stay in this
screen if you want to record for a specified interval. If you exit this
screen, you loose any information about how long this session has
been on and the receiver will keep recording until you tap 6WRS .

6. Tap 6WDUW to mark the beginning of this site occupation in the

receiver raw data.
7. If you specified a Duration, you can watch the time Remain count
down. If you choose to record until stop, the Remain field shows
. When the session is done, Survey Pro will send an end of
occupation event marker to the receiver.
8. You can end a session by tapping 6WRS .

Office Procedure
1. Use the software supplied by the receiver manufacturer to
download the files from receiver internal memory onto your PC.
2. Use your GPS baseline processing software to combine the raw
data from different receivers and generate GPS base lines.

Note: See the documentation supplied with your PC software for

details on downloading and processing GPS raw data from the
receivers internal memory.

66
Tutorial Jobs
This section contains sample jobs to illustrate all of the main
functions of Survey Pro GPS Module. Each job illustrates different
horizontal and vertical projection methods as well as different GPS
field procedures.

Before Starting
Make sure you have the file demofile.txt in the same directory as
the Survey Pro executable.
Make sure you have the files TDSControl_Ground.job and
TDSControl_ORNorth.job loaded on the machine.
Make sure you have the NGS geo96NW.geo geoid file in the
directory specified on the Job, Settings, Projection card.
Make sure the Standard and GPS modules are registered.
Make sure you are in GPS Mode. If the instrument/receiver icon
on the title bar shows a total station, tap the icon and switch to
GPS Mode.
Make sure the Brand on the Receiver card is set to Manual Mode.

Localize with Control

Objectives
This tutorial job will teach you:
How to generate local coordinates from GPS measurements when
coordinate system has no known relationship to geodetic datum.
How localization set up groups allow you to collect different sets of
control points.
How to set up and move the base station receiver to measured and
new points.

67
GPS Users Guide

Scenario
Your firm has done many jobs over the years at a particular site. You
want to use your RTK system to generate new coordinates in the
existing system. However, the original coordinate system was based
on an assumed bearing, so you have no idea how the coordinate grid
is oriented with respect to geodetic north.
You need to use horizontal localization with control points. We will
assume you are in an area not covered by one of the available geoid
models, so you need to use vertical localization as well.

Procedure
1. Open job: TDSControl_Ground.job.
Make sure you are in GPS mode and then check the settings.
Make sure the Horizontal projection is set to Localization:
Control Points and the Vertical projection is set to Localization.
Make sure you have alphanumeric point names turned on in
the General Settings.
2. Set up a new base station.
Go to Base Setup and type in newBase in the point name box.
Enter an antenna height and tap 1H[W ! to open the next
screen.
Tap *(7 to get autonomous position from receiver. Tap SET
to configure the base receiver.
3. Collect control points.
Go to Control Points. You will be prompted to set the rover
before you can collect control points. Tap 6HW 5RYHU 1RZ at
the prompt.
Enter a rover antenna height and then tap 6HW 5RYHU to set
the rover. Survey Pro will open the Control Points screen once
the rover is set.
Collect control points CHAP, BICK, and 1. Select horizontal
and vertical for each one by using the available check boxes.
68
 Tutorial Jobs

4. Solve localization.
Tap 3URMHFWLRQ to open the Projection screen. Tap /RFDOL]DWLRQ

6HWXS .
The control points you just collected are available in the
Localization Control Points list. Make sure they are all selected
for horizontal (H) and vertical (V) control.
Tap 6ROYH and examine the results.

Note: The combined scale factor for this location should be 1.000015
and the rotation should be 15748 (negative of meridian
convergence).

Tap $FFHSW to close the Projection page and return to Control

Points screen.
5. Check points.
Select Point 3 and tap &KHFN 3RLQW . Results should be perfect.

Tap $FFHSW and review the results on the Results tab.

6. Move the base to a point in the coordinate file measured with
GPS.
Go to Base Setup, select point 1 and tap 1H[W! .
Measured coordinates for Point 1 are recalled and ready to
6(7 .

Once 6(7 , you will be prompted to re-solve the horizontal and

vertical projection. Tap 6ROYH 1RZ to open the Localization
Setup screen.
All of the control points you collected during the first
occupation are still available. Point 1 has been de-selected as
a control point because it is the base (and is often
inappropriate for control). Reselect Point 1 for H, V and tap
6ROYH! .

69
GPS Users Guide

Scale factor and rotation should be the same as before

(because the points are so close). Parameters c, d has
changed.
$FFHSW the localization results.
7. Check points and add control point.
Go to Control Points. Select point 2 and tap &KHFN 3RLQW . The
results should be perfect.
Add Control Point 2. Deselect the H/V check when you are
collecting it. This point will be used only if necessary.
8. Move the base to a point in the coordinate file not measured with
GPS.
Go to Base Setup, select point 4 and tap 1H[W! . The prompt
gives you two options. You can &RPSXWH a geodetic
coordinate from the plane coordinate based on the latest
localization or use *(7 to get a new autonomous position.
Tap &RPSXWH .

Note: This action is equivalent to the TDS Move Base routine in the
DOS software.

The geodetic coordinates for point 4 are computed. Tap 6(7

to configure the receiver and then tap 6ROYH 1RZ at the
prompt to resolve localization parameters.
Keep the selected control points and tap 6ROYH! then $FFHSW .
9. Check points.
Go to Control Points. Select point 2 and tap &KHFN 3RLQW . The
results should be perfect.
10. Surveyor moves the base to new autonomous location.
Go to Base Setup, enter a new point name, newBase2 and tap
1H[W! . GET an autonomous position. Change the returned

position by hand to (44-33-07, 123-16-06, 55.0), so it is

70
 Tutorial Jobs

sufficiently far from the original setup for this demonstration,

and tap 6(7 .
You are prompted to reoccupy horizontal and vertical control
points.
11. Control points
Go to Control Points. Set the rover at the prompt.
Collect control points 53, 54, and CHAP. You will be
prompted to overwrite control location of CHAP.
Tap 3URMHFWLRQ and /RFDOL]DWLRQ 6HWXS . Notice that only
those control points that go with this set up group are
available.
Tap 6ROYH! and examine the parameters. Similar scale and
rotation as before.
12. Check points.
Select point 1 and tap &KHFN 3RLQW . Results should be near
perfect.
13. Move the base back to a point from the original set up group.
Go to Base Setup, select point 2 and tap 1H[W! . The geodetic
coordinates of point 2 are recalled from the file.
Tap 6(7 and then 6ROYH 1RZ to re-solve the localization.

Tap /RFDOL]DWLRQ 6HWXS . Notice that all control points from

original set up group are still available except point CHAP,
which was overwritten as part of the second set up group.

Note: The recommended field procedure when you want to collect the
same control point in two different set up groups is to make a copy of
the points local coordinates and occupy the point copy from the
second set up group.

71
GPS Users Guide

Reuse Localization
Measurements
Objectives
This tutorial job will teach you:
How to use a control file to transfer and re-use GPS measurements
to control points.
How to set up a base station from a second rover.
How to re-solve localization parameters using control file points.
How to use different data collection options.

Scenario
You want to send two of your crews back to the same job site from
tutorial one for more measurements. You have two rovers and a
single base station. Each crew is to generate new points in the
project, without having to re-measure control points.
Procedure
1. Create a new job.
Choose 1001 as the first point.
Go to the Files card from the Job, Settings screen. And select
TDSControl_Ground.job as the control file
2. Set up base and rover.
We will assume that the other crew set the base on a know
point in the job. We just need to configure the rover receiver
and set the base position in Survey Pro
Go to Rover Setup. Tap *(7 to get the base position at the
rover.
The base position received from the radio link is found in the
job file and the Base Setup screen opens. Tap 1H[W! and
then 6(7 .

72
 Tutorial Jobs

At the prompt, tap 6ROYH 1RZ to resolve the localization

parameters. The Localization Setup screen opens and
displays all of the available control points belonging the same
set up group as point 1.
Select points 1,2, BICK for H and V control and tap 6ROYH!

and $FFHSW .
3. Check point
Go to Control Points and select point 3 for a &KHFN 3RLQW . The
results should be near perfect.
4. Data Collection
Go to Data Collection. Tap 3RLQW and collect a couple of data
points. Start numbering at 1101.
Tap 2IIVHW and collect an offset point.

Tap )HDWXUH , choose Continuous by Time and enter a small

interval (0.1 min). Make sure Autodraw Line is checked.
Tap 6WDUW to open the Occupy Data Points screen. Tap $FFHSW

to start the continuous data collection.

Allow this to run for a minute to collect a number of points.
Tap View Points to see how many points you have stored so
far. Tap 'RQH when you are finished.

Note: Notice points from continuous collection are connected with a

line on the Map tab.

5. Move the base to a control point with no measured GPS

coordinates.
Go to Base Setup. Select point 52 and tap 1H[W! . You will be
prompted to rename the point because point 52 does not yet
have a geodetic coordinate and one needs to be added to set
the base.
You can now do a 6(7 with computed coordinates.
6. Check point.
73
GPS Users Guide

Go to Control Points and select point 3 for a &KHFN 3RLQW . The

results should be near perfect.

Localization Calculator and

Geoid Modeling
Objectives
This tutorial job will teach you:
How to show up on site and begin measuring ground level distances
without any existing control.
How to use a geoid model to measure orthometric elevations
relative to the base station elevation.

Scenario
You show up at a new job site where no previous coordinates exist.
You want to use RTK to create a ground level coordinate system for a
legal and topo survey.
Since this is a new job, you can use the localization calculator for the
horizontal projection. We will assume you are in an area covered by
one of the available geoid models, so you can use geoid modeling for
the vertical projection.

74
 Tutorial Jobs

Procedure
1. Create a new job.
Accept point 1 at 5000, 5000, 100
Change the Horizontal and Vertical Projection Settings to
Localization: Calculator and Geoid Model.
2. Set up a new base point.
Go to Base Setup and enter Point 1.
Choose *(7 to receive an autonomous position from the
receiver.
Tap 6(7 . You are prompted to reset the horizontal projection.
3. Setup rover.
4. Setup projection.
Go to Projection from the Survey menu and tap /RFDOL]DWLRQ

6HWXS to open the One Point Setup screen.

Tap &DOF 6FDOH to generate the ground level scaling factor for
this point.

Note: The scale factor should be close to the scale factor you were
seeing in the first project.

Tap &DOF 5RWDWLRQ . Since this is a new project, you will be

prompted to set this point as the grid origin or to use a known
mapping plane for grid orientation. Choose
6HW 2ULJLQ and finish the wizard.

Note: The rotation will be zero for this first point. This means that
the coordinate system grid will be oriented towards geodetic north
(the north pole) at the first base station location.

Since you set the base up on point 1, the base local

coordinates are known and you do not need to 2FFXS\ FRQWURO .
75
GPS Users Guide

Tap 6ROYH! and $FFHSW to complete projection setup.

5. Data collect points 2,3,4, MANE.
6. Move the base to a known point.
Go to Base Setup. Select the point MANE. The geodetic
location of MANE is recalled from the job file. 6(7 the base.

Tap 6ROYH QRZ at the prompt to re-solve the horizontal

projection.
Tap &DOF 6FDOH to calculate new grid to ground scale factor.

Tap 6ROYH 5RWDWLRQ! . The rotation is now 0.0043" (the

meridian convergence on the stereographic mapping plane
between 1 and MANE).
7. Move the base to a new autonomous location.
Go to Base Setup. Enter the point newBase. Do a *(7 and
change the coordinates to (44.33, -123.16).
You are prompted that the new point does not have a valid
elevation. You will need to use Remote Elevation to calculate
the base elevation.
You are prompted that you have set the base on a new
autonomous position. You need to reset the horizontal
projection.
8. Setup projection.
Assume the area of interest is far away from the base
location; we should calculate scale for the area of interest.
Tap &DOF 6FDOH . Select Point 1 and 6ROYH 6FDOH! .

Note: the mapping plane component is no longer 1.0. This is because

we are sufficiently far from the base location.

Tap &DOF 5RWDWLRQ . Follow the Localization Calculator to

solve the new rotation.

76
 Tutorial Jobs

Since you set the base up on a new unknown point, tap

2FFXS\ &RQWURO to calculate the base position.

Choose Point 2, and occupy it as a control point.

Note: If you do not want to overwrite the geodetic coordinate of point

2, make a copy of it and occupy the copy as the control point.

Tap 6ROYH! and $FFHSW .

9. Calculate base elevation.
Go to Remote Elevation. Choose 2FFXS\ 3RLQW , select Point 2
and tap 2FFXS\ %HQFKPDUN .

$FFHSW the New Elevation Calculated for the base station.

10. Check points.
Go to Control Points and select point 2 and 3 for a
&KHFN 3RLQW . The results should be near perfect.

77
GPS Users Guide

Mapping Plane with GPS and

Conventional Measurements
Objectives
This tutorial job will teach you:
How to select and setup a map projection.
How to use GPS Stake Out.
How to calculate combined scale factor for conventional
measurements.
How to coordinate conventional measurements on the mapping
plane.
How to use COGO functions with the combined scale factor.
Scenario
You need to lay out petroleum well site with coordinates in a custom
datum and mapping plane. The reference frame is established by
control monuments, which must be occupied as part of survey. Some
total station measurements will be used to add points to project.

Procedure
1. Open TDSControl_ORNorth.job.
Go to the Measure Mode card from the Job, Settings screen
and make sure Store GPS Raw Data is set to + baselines.
2. Change the horizontal projection.
Go to Projection from the Survey menu. On the Horizontal
card, tap 0DSSLQJ 3ODQH 6HWXS .

Note: Notice the Region, Datum, Coordinate System and Zone are
already set. These settings are taken from the job file header.

Change the Region to International and change the Coordinate

System to Custom.

78
 Tutorial Jobs

Tap 6HOHFW &XVWRP )LOH and select the oregonN.cs5 custom

file.

Note: This .cs5 file is identical to the parameters for the Oregon
North State Plane Coordinate System. You will get the same results
if you use USA Region, State Plane 1983 Coordinate System, NAD 1983
Datum and Oregon North Zone.

3. Set up the base station.

Go to Base Setup and select point MANE. The geodetic
coordinate is computed from the plane coordinate using the
reverse transformation and from the selected geoid model.
4. Data collection.
Go to Data Collection and collect points OIP1, OIP2, OIP3.
These are the corners of the lot.
Data collect Point 101. This will be used as the well center to
stake out.
5. Stake Out
Go to Stake Points and select Point 101.
6. Tap 6ROYH! and then 6WDNH! to open the GPS Staking screen.

7. Navigate to the point.

Note: In the field, you would navigate to the point, place your mark
and then occupy the staked position. In order to get the demo to
recognize that you want to stake point 101, you must first switch to
2&&83<,1* .

Change from 529,1* to 2&&83<,1* . Enter Point 201 at

prompt.
Stake out to Point 101 has now begun. Watch the design
location move to the rover location, as you get closer.

79
GPS Users Guide

Press '21( to accept this staked location and return to the

Stake Points screen.
8. Conventional measurements
Tap the instrument icon in the title bar and switch to
Conventional Mode.
Go to the Surveying card from the Job, Settings screen.
Select Use Scale Factor and Prompt to Reset Scale With New
Setups.
9. Set up back sight.
Go to Back Sight Setup. Occupy OIP1, and back sight OIP2.
You are prompted that the scale factor for this point is
different from the current scale factor. Tap &KDQJH 6FDOH .
Use the Projection Calculator to solve the scale factor for this
setup. A new mode record is written to raw data.
10. Side shots and traverse.
Take a 100.0-m 6LGH 6KRW . Notice how the horizontal
distances are scaled.
Take a 7UDYHUVH shot at AR = 0.0, ZE = 45.0000, SD = 1000.0.
At the prompt, tap 7UDYHUVH 1RZ .
You will be prompted to reset scale since your elevation has
changed significantly.
The scale is updated and a new mode record is written to the
raw data. Subsequent shots are scaled with the new value.
11. Using the scale factor in COGO calculations
Go to Point in Direction from the Cogo menu.
Select a starting point and a direction.
Enter a horizontal distance in the Horz Dist field, tap the
corresponding power button, and choose Apply Scale
Factor to scale the input distance.

80
Trouble Shooting
Hardware Configuration
o You attempt to auto detect and the program fails to find the baud
rate of the receiver.
Check to make sure you selected the correct brand and
model.
The port you are connected to may be broken or
temporarily unavailable. Plug into another port and try
again.
If you cannot detect the baud from any of the ports, toggle
the power on the receiver and try again.
If you still cannot connect, do a soft reset of your receiver
hardware.
If you still cannot connect, do a hard reset of your receiver
hardware.

o You attempt to auto detect baud rate and port and it takes
several seconds to check each baud rate.
You are plugged into a port that is sending out other
traffic, this receiver is probably in base mode and is
sending RTK corrections out the port you are connected
to.
Plug into a different port and try again.

o You attempt to change or check the radio channel and the radio
does not go into command mode after you toggle the power
Older versions of the radio firmware do not behave well at
faster bauds. Set the data collector to receiver baud rate
to 9600 and try again.
If this still does not work, try leaving the radio unplugged
for five seconds before plugging it back in.

81
GPS Users Guide

o You attempt to change the radio channel on a radio that supports

software breaks and you are still prompted to toggle the power on
and off.
The radio baud rate is not set at the correct value for this
radio. Make sure the radio baud rate is set correctly and
try again.

Base Setup
o You attempt to get an autonomous position from the base receiver
and you get the message: "Not enough satellites for solution. Try
again."
Check to make sure the antenna is connected.
Check the Sky View card on the GPS Status screen to
make sure you are tracking satellites.

o You attempt to get or set the base or rover and you get the
message: Survey Pro could not execute that command in the
receiver. Check receiver settings and communication and try again.
Check to see if you are communicating with the receiver.
Check the GPS Status screen and make sure you are not
getting the No COM message on any of the cards.
The receiver may be busy doing other things. If you
attempt to set the receiver when it is still doing a cold
start, it will not respond to all commands.

Radio Communication
o You set up the base and the Tx. Light on the base radio is not
blinking at a regular rate.
Make sure the radio serial cable is connected.
Make sure the radio antenna is connected.
Make sure the base radio COM port and baud rate is
correct.

82
 Trouble Shooting

o You set up the rover and the Rx. Light on the rover radio is not
blinking.
Make sure the radio serial cable is connected.
Make sure the radio antenna is connected.
Make sure the rover radio COM port and baud rate is
correct.
Make sure the base and rover radios are on the same
channel.

o You set up the rover and the Rx. light is blinking sporadically.
The radio is receiving interfering signals on this channel.
Switch the base and rover radios to a different channel.

o You set up the rover and the Rx. light is blinking but the Data
Link card on the GPS Status screen says No Data from Radio.
Make sure the radio serial cable is connected.
Make sure the rover radio COM port and baud rate is
correct.

Projection Solutions
o You set up a mapping plane requiring data files for datum
conversion or you are using geoid modeling and you get a message
about files not found.
Make sure the required data files are in the directory
specified on the Path to Data Files field on the Projection
card of the Job, Settings screen.

o You select a custom projection file and you get a message about
file format not valid.
The .CS5 or .PJ5 custom projection file has been
corrupted. Open the file in the text editor and repair it or
generate a new file using Survey Link.

o You solve localization and the horizontal or vertical residuals are

larger than the measurement precision of the instrument, or
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when you do a check point, the errors are larger than the
instrument precision.
Make sure you did not occupy the wrong control point.
Check the Map tab on the Control Points screen to
visually inspect the location of control points.
The measurements to one or more control points are of
poor precision. Check the control point records in the
.RAW file and verify the RH and RV values.

Taking measurements
o The rover receiver status reports No Data.
Communication with the receiver is OK, but the receiver
is not returning a complete response to the status or
position message. Check antenna cable and try again.

o The rover receiver status reports No RTK solution and 0 satellites

used even when more than 4 satellites are being tracked.
Some receivers will not calculate position when there are
no RTK corrections received over the radio link. Check
the Data Link card on the GPS Status screen and remedy
any radio problems.

Post Processing
o You attempt to start recording in a receiver and you get the
message Survey Pro could not execute that command in the
receiver. There is a problem with the receiver internal memory."
The internal memory card is full or missing. Check the
internal memory card and try again.

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References
Books:
The following books are available from various sources, including the
America Congress on Surveying and Mapping:
5410 Grosvenor Lane, Bethesda MD, 20814
Phone: (301) 493 0200
Email: books@acsm.net

For a basic description of GPS hardware, field procedures, network

design, planning observations:
o Van Sickle, Jan. GPS for Land Surveyors 1996, Ann Arbor.
300pp. ISBN 1-57504-041-7
For a more detailed reference on GPS datums and coordinate
systems, signals, psuedo-range observables, mathematical models:
o Hofmann-Wellenhof et al. GPS Theory and Practice, 3rd Eddition
1994, Springer-Verlag Wein (Austria). 355pp. ISBN 3-211-
82591-6
For an advanced discussion of GPS carrier signals, adjustment of
GPS observation networks, and coordinate transformations:
o Leick, Alfred. GPS Satellite Surveying, 2nd Edition 1995, John
Wiley & Sons Inc. 584pp. ISBN 0-471-30626-6

Internet sites on GPS theory:

Four useful web sites describing GPS, Geodetic Datums, Coordinate
Systems, and Map Projections were developed by Peter H. Dana,
Department of Geography, University of Texas at Austin:
http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html

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Internet sites on GPS status

For up to date information on the Satellite constellation see the US
Coast Guard Navigation Center:
http://www.navcen.uscg.mil/

For general information about all aspects of GPS, see the NAVSTAR
home page:
http://www.laafb.af.mil/SMC/CZ/homepage/

For GPS constelation status bulletins, see the Notice Advisory to

Navstar Users (NANU) list.
http://www.navcen.uscg.mil/ado/gpsactivenanu.asp

For ionospheric conditions, see the Geological Survey of Canada

geomagnetic activity forcasts:
http://www.geolab.nrcan.gc.ca/geomag/e_forcas.html

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