Documentation P0101211, July 2001, Rev.

C
Supersedes Documentation DSNP100493, February 2001, Rev. B

Table of Contents
Introduction ................................................................... 1

Husky MP2500 Palmtop: important keys ................ 2

Choosing an installation site for the station ..................... 4

Preparing and starting up the station .............................. 5

Preparing and starting up the rover................................. 8

Using the Logging function ............................................ 12

Using the Stake out function.......................................... 14
Using the Trajecto function............................................ 19
Reading survey results on the palmtop........................... 20

Raw data recording ....................................................... 21

Checking the entered position at the station ................... 23

Receiver: push-button and LEDs .................................... 24

Palmtop: Status bar....................................................... 26

GPS antenna height....................................................... 28

Using the GSM option .................................................... 29

 If the Husky has been left uncharged for
quite a long time, connect it to the charger
then re-initialize the Husky by simultaneously
holding down the 3 keys ñ+ñ+ for a few
seconds. Let the battery be recharged for a
few hours before use.
Introduction
This guide should help you carry out your first field surveys using a
system from the 6500/6300 series.
Below are the main functions which can be performed:
- Logging: the rover will compute and save the position of any point
in the working area once the antenna rod is placed on this point.
- Stake out: the rover will guide you to the planned points of the open
job so that you can stake them out in the field. It will compute and
save their positions for further comparison against the project points.
- Trajectory: the rover will automatically log points along a
trajectory, at regular intervals of time or distance.
- Raw data recording: a function shared by rovers and stations for
post-processing applications.

The following functions do not fall within the scope of this guide:
surveying a profile, resorting to offset methods in logging and stake-out
functions, computing distances and areas, creating points and lines, raw
data recording according to programmed sessions, computing a local
grid or altitude correction, loading a geoid...
For more information about these topics, please refer to the Reference
Manual Part No. P0100386 provided on CD-ROM.

Please, do not throw away this guide once you get familiar with the
system, but instead, use it as a memo.

1
Husky MP2500 Palmtop: important keys

Com 2 : ON/OFF key

RS232
: “Shift” key (one on either
side of the Yes key). Allows entry
of characters printed above keys
+ L :Enables or disables
screen back-lighting
+ or : Used for
screen contrast setting
+ : Under DOS, used
for step-by-step scrolling-up in a
NEVER EVER use the list of files
“FORMAT” or “DEL *.*”
command on the MP2500 or : When depressed
else you would have to simultaneously for about 5
send it back to Husky Ltd seconds, allows the palmtop to be
for maintenance
re-started after a fatal error (same
as “CTRL+ALT+DEL” on a PC)

:“Yes” or Enter key

(same as Enter key on a PC)
Battery cap
: Used to move the
cursor on the screen from one
field to another, from one menu option to another. Used
to scroll up and down a list of points, jobs or files.

2
 : If a Functions menu is displayed, selects respectively the
next or previous Functions menu (i.e. on right- or left-
adjacent icon). In other cases, moves the cursor
respectively to the next or previous field.
If a parameter is preceded or followed by , allows
you to display respectively the parameter’s possible
options or characteristics.
F1 : Displays the context-sensitive Help menu
+F1 : Provides unconditional access to the Notes file
F2 : Displays the last computed position (on rover)
F3 : “Save” key
F4 : Allows you to quit the program
Esc : Allows you to come back to the previous screen, to
remove the Help menu from the screen, to cancel all
changes in progress on a parameter, or, right after the
self-tests, to display the main menu
PgUp
& PgDn : Allow you to scroll up and down a list in a page-by-page
mode, or a function that does not fit on a single screen.
In stake out, allows you to zoom in (PgUp) or zoom out
(PgDn) when guidance screen is displayed
Home : Displays beginning of list
End : Displays end of list
Del : If a points list is displayed and a logged or staked out
point is selected, cancels the coordinates computed for
this point.

3
Choosing an installation site for the station
Choose a site whose position is accurately known and offering an open
view of the sky in all directions. In fact, the presence of buildings or
vegetation in the vicinity:
- will hinder GPS reception for low elevation angles, and so will
reduce the number of satellites visible from the station
- will bring about multi-path effects likely to impair the system’s
accuracy. Satellites properly received

Masked satellite Masked satellite

(hence useless) (hence useless)

UHF
GPS

Avoid
multi-path
effects
Check for the absence of obstacles in the direction of the working area.
Their presence nearby is liable to reduce the coverage of the UHF
radio link (U-LINK).

Rover’s working area

(top view)
Station’s
UHF radio
antenna

4
Preparing and starting up the station
1. Connect the various items of the station together (see below).
For SP-type stations, no UHF transmitter & antenna, with
nothing connected to the RS422 port at the rear of the unit

UHF antenna
& transmitter 3.6 cm Phase center
Mounted on a separate mast
placed at some distance from NAP00x
the GPS antenna GPS
antenna
1.2 cm
Receiver
unit Câble C5050196
Cable P0100289
(10 meters)
RS422 Cable P076501A

Coaxial

Power
RS232

Cable P0100349
Battery compartment (empty if
an external battery is used) Palmtop
(required at start up
(4) (3) (1) and for monitoring)
(2)
- + - External battery +
Swapping the battery
(not supplied)
for another is possible
Required for … SK stations without having to shut
down the station
Battery capacity: 20 Ah minimum for
B tott 12i hours
an operating time of 10 t on
average

2. Measure the height of the GPS antenna phase center from the
ground according to one of the three possible methods (see p. 28).

5
 3. Switch on the palmtop (red key).
4. When « C:\>< » is displayed, type in “t” then press .
5. Select “Station” as shown below by pressing :

then press .
6. Follow the instructions below leading to having the station
transmitting after entry of the required parameters (measured
antenna height, coordinates and No. of station, carrier frequency,
transmitted data type & transmit rate):
Antenna type Measurement method
(A key) (use after selecting this field)

True height
(deduced from
entered height)

If you are in trouble, Measured height

press to (See also page 28)
Next screen
display help!

Station’s
coordinates

Next screen (See page 23)

Cont’d on next page

6
 Write down the beacon
ID & frequency entered
here* (later, you will
have to check that the
rover also uses these 2
parameters)

Minimum transmit rate: 1 s

To start transmitting

The station transmits when: 3: This LED

flashes at
2: “Filled up” transmit rate
1: “ON” is displayed here icon

then twice to quit the program

to shut down the palmtop

Disconnect the palmtop from the station

At the end of the survey, just hold down the receiver push-button
depressed for a few seconds (see page 24) to shut down the station.
* - Station number: choose any number between 1 and 99; specific to the station (it must not
be used by another station operating nearby on the same frequency).
- Frequency: enter the value of the authorized UHF transmission frequency, in MHz.

7
Preparing and starting up the rover
1. Connect the various items of the rover together according to
rover type & carrying mode chosen (see below or opposite).

MP-type rover carried on belt, “all-on-the-

rod”, or on shoulder strap
Phase center

NAP00x
GPS 3.6 cm
antenna

Cable P0100350
Receiver
unit
Height of GPS
antenna on rod
C0000200
Coaxial (graphite epoxy
composite,
RS232 2 m long):
2.036 m
Cable P076501A

Batteries

(Palmtop)

8
 Backpack
No UHF antenna
for an MP-type Height of GPS
rover antenna on rod
C0000200
Phase center
UHF (graphite epoxy
antenna composite,
3.6 cm 2 m long):
NAP00x 2.036 m
TNC/TNC cable with right- GPS
angle adaptor on receiver antenna

Receiver
unit Cable P076500A

Coaxial Cable P076510A

RS232

Cable P076501A
Cable P076509A

Batteries
Palmtop

UHF antenna

To GPS antenna
Folding mast
To palmtop

Access to
batteries from
this side

Side of backpack resting on

operator’s back
9
 2. Switch on the palmtop (red key).
3. When « C:\>< » is displayed, type in “t” then press
4. Choose “Rover” and press
5. Wait for the screen to display Choose a job. Then:

Select a job from the list

If the list is empty, press C then
to create an empty job.
EThis job only allows you to use
the logging function in the
coordinate system used by the unit
(i.e. in WGS84 if you use the system
for the very first time, or else in the
coordinate system of the job last
performed)

For any job opened for the first

time, you are asked to create a
new file. Complete the fields
opposite (then hit

to create this file and select the

next screen)

(Cont’d on next page)

10
 1 2 3 Main Menu screen
To select an icon menu, use
then
or hit directly the key corresponding
to the icon order number shown
opposite
4 5 6
>2 - UHF Receiver (*) Check that
the frequency and
number displayed
here are those of the
station (see top of
page 7), otherwise
correct them so that
they are the same

6. Before undertaking the job itself, read the indications in the

status bar: wait for the letter L (LRK), or K (KART) to appear
and check that the UHF reception level and Battery states are
good (see also page 27).
Later, to change the job:

1. Select > 1 – Choose a job

2. Select the desired job in the displayed list, then hit ,
3. Select the desired file in the displayed list, then hit .

(*) : The number ahead of the function name (here “2”) means that, after selecting the icon, you
can access the function directly by hitting the corresponding key (here key “2”). This remark
applies to all functions in menus. The “>” symbol means that you must successively select the
icon, and then the function. This frequently-used symbol has the same meaning throughout this
guide.

11
Using the Logging function
(1)

>2 – Logging

Logging
screens Help

GPS antenna rod is held immobile and vertical above the point !

Fast procedure Complete procedure

(no prior solution (solution is checked prior
checking) to saving it)

Computes
& displays
position
Computes and
saves position
directly Saves
position

12
Screen examples in Logging:
Point name
(If the complete procedure is used)
Currently available
First geocode
accuracy in logging
associated with point

Number of measurements
before computing a solution (*)

GPS antenna height

Computation mode used

and accuracy obtained
for computed position,
before saving it

The other 3 geocodes

associated with the point

Comment on computed
position may be added
in this field

Coordinates of computed
position

Components of
accuracy for
computed position

(*) : =1 : a single measurement is performed to compute the position

>1 : several measurements are made before computing the position. The result is
obtained by averaging the measurements made.
Warning! the larger this number, the longer the computation time.

13
Using the Stake out function
(1)
>1 –Stake out
or
>3 - Reference points (*)

Points list screen

(Planned points read
from open job) Help

Guidance
screens Help

“OK”
Next point

GPS antenna rod is held immobile and vertical above the point !

Logging
screens

Saves position

(*) : For a seismic job, the function “3 – Reference points” is removed from the icon menu.

14
Screen example showing a list of points (topo):
Number of target Name of Distance to
points in the job open job selected target

Point Geocodes
names

To guidance screen (page 16)

Screen example showing a list of points (seismic):

Same as above plus indications below.

Braced points
form a line

To guidance screen (page 17)

15
Examples of guidance screens (topo): Geographic
North

Name of
selected target
At the very
beginning Target

Your position

After a few
steps toward Distance (d)
the target still to go +
transverse,
longitudinal &
vertical
components

Zoom ± 5 meters
(automatic Point used
selection) for guidance
(R : Real time
or A :
Accurate)

Zoom ± 0.5 meters

(automatic
selection)

Zoom ± 0.15 meters

manual selection
using:

To logging screen (page 18)

16
 Geographic
North
Examples of guidance screens
(3D seismic): Name of
selected target
At the very
beginning Target

Your position

After a few Distance (d)

steps toward still to go +
the target transverse &
longitudinal
components

Zoom ± 5 meters
(automatic Limits of
selection) acceptance
area

Point used
for guidance
Zoom ± 0.5 meters (R : Real time
(automatic or A :
selection) Accurate)

See next
page
Zoom ± 0.15 meters
manual selection
using:

To logging screen (page 18)

17
 The “Offset” fields are used to cancel artificially the distance to an inaccessible target.
Use the T key (in 3D only) or L key (3D & 2D). In each field, type in the corresponding
component (o or n) displayed above. This causes the ”OK” message to appear allowing
you to complete the survey of the target.

Screen examples when logging a target (topo or seismic surveying):

Same as From guidance screen on which

“Using the « OK » is displayed
Logging Target name
function” (read-only)
except for the
following:

Deviation from
theoretical
point (vertical
& horizontal
components
for 3D point)

to save the point

For a seismic job, on screen 2/3, no geocodes (2), (3) & (4).
Press the U key to read the stake-out tolerance displayed in the “Acceptance circle” field.

18
Using the Trajecto function
(1)

>4 - Trajecto

Distance/time
F3: Start trajectory
S: Stop
Trajecto P: Pause
screen R: Resume
F3: Log point
Start of trajectory B: Active/inactive buzzer

Starts trajectory
survey;
Points are then logged every
x meters or seconds.
Each new press on this key
will log an extra point.
Manual logging.

All other points are logged

automatically every x meters or
seconds

Trajecto screen example: Trajecto in progress

Count of logged
points, time elapsed
and distance
traveled since the
beginning of the
trajectory

A sound is heard (ON) or not (OFF) whenever a new point is logged

19
Reading survey results on the palmtop

(3)

> 3 - Result points.

Result points are represented as follows:

Surveyed target point

Target point surveyed through offset method

(1 et 2 are the support points P1 and P2)

Logged point
Surveyed reference point

Reference point surveyed through offset method

(1 et 2 are the support points P1 and P2)

Trajectory. To display the points of the trajectory, select

the trajectory and press the Yes key

Point logged through intersection offset (1, 2, 3 and 4

are the four support points P1, P2, P3 and P4)

Reference points involved in the

computation of the local grid
Reference point involved in the computation
of the local correction of altitude

20
Raw data recording
With palmtop:

Insert a PC Card into the receiver

Press to switch on the palmtop (This also switches on

the receiver, if it was off)

1. At the DOS prompt (C:\>), hit “T” and then

2. Choose “Rover” and then press

To display the main menu

Select >Raw data

Raw data Specify:

screen Filename
Recording rate
Antenna height

To start recording

to access the Mark screen, then:

to mark a short event

then to mark beginning & end of long event

To stop recording

21
Without palmtop:

Depress to switch on the

receiver

Insert a PC Card into the receiver

To start data recording:

1. Press the push-button under the
PC Card slot. The LED below
starts flashing:

2. Close the protection flap. Data

recording starts immediately. The
above LED remains permanently lit

To stop data recording:

1. Open the PC Card flap (the LED
starts flashing again)
2. Press the push-button. The LED
goes out denoting end of recording

During data recording, opening inadvertently the flap will only suspend recording. As soon as you close the flap
again, recording will continue automatically, though in another file!! It is therefore worth noting that this event
will inevitably introduce discontinuity in the post-processing of the recorded raw data.
During recording, with the flap properly close, the above LED starting to flash means that the PC Card is full.

22
Checking the entered position at the station

>2 – UHF transmitter

Press the S key to stop transmitting
>1 – Position
The screen now shows the distance deviation between the position
you entered and the conventional GPS position computed by the
station. Example:

Deviation between
entered position and
computed position

The position you entered may be regarded as the right one if the
deviation is in the order of the possible accuracy in conventional GPS,
namely less than 30 m in absence of SA (*), which is currently the
case (July 2001), or less than 100 m if the SA was re-activated.

If the deviation is too large, check the coordinates of the point on

which the station is installed as well as the coordinate system used.

If or when the deviation is correct, re-enable transmission :

>2 – UHF transmitter
Press .

NOTE : This checking procedure only allows you to detect glaring errors.
(*) SA=Selective Availability. Intentional GPS signal degradation under control of USA
Department of Defense.

23
Receiver: push-button and LEDs
ON/OFF push-button
- If the receiver is off, a short press on this button will switch it on.
- If the receiver is on, a long press (4 s approx.) will switch it off
(after you release the push-button, the Session LED (5) may flash
for a while informing you that switching off is in underway). The
receiver OFF condition is effective when the LED is extinguished.
- May also be used to load the default configuration:
. The receiver unit being OFF, depress the push-button for about 3 seconds. When
releasing the push-button, the session LED (5) will start flashing at a fast rate.
. Within the next 2 seconds, before the LED (5) remains lit, depress the push-button again
(brief press). This will load the default configuration into the receiver.
ON/OFF
push-button 2

1 3

4 6

1: SV constellation indicator light

- Lights up when switching on
- Flashes during initialization (self-tests, searching for SVs).

24
 - Then produces a series of flashes corresponding to the number of
received SVs on L1 and L2 (or L1 only if single-frequency).
- If indefinitely ON, denotes a reception problem.
2: UHF data link indicator light
- Station: Flashes whenever a corrections message is transmitted.
- Rover: Flashes whenever a corrections message is received &
decoded.
3: Position processing indicator light
- OFF: unable to work in the requested operating mode.
- Flashing : in the process of switching to the requested operating
mode.
- ON: now working in the requested operating mode.
4: Raw data recording indicator light
- OFF: No recording in progress, no recording session pending
- Flashing: At least one recording session is pending.
- ON: Data recording in progress.
5: Session indicator light
- OFF: Non-powered receiver, no planned session
- ON: Receiver is ON
- Flashing (slow rate): At least one session is pending
- Flashing (equal ON/OFF times): Switching off in progress (see
ON/OFF push-button).
- Flashing (fast rate): Default configuration loading being requested;
confirmation needed (see ON/OFF push-button)
6 : Not used

25
Palmtop: Status bar
The status bar allows you to monitor the operation of the system.

Status bar

Status bar at the station

Number of transmitted corrections
≠ 0 : Number of SV corrections currently
transmitted by the station
= 0 : Transmission OFF (station not allowed
to transmit)

Flashes if number of SVs ≤ 4

Count of SVs used

Transmit indicator

: Transmission ON

: Transmission OFF

Receiver battery indicator:

:Icon empties as and when receiver

battery discharges
: (Flashing icon) receiver battery
voltage has reached preset lower
threshold (please replace battery)

26
Status bar at the rover

Position processing mode used:

H : Hold (No solution yet)
G : Straight GPS with/without WAAS/EGNOS
D : DGPS
W : WADGPS (DGPS with WAAS/EGNOS)
E : EDGPS (decimeter accuracy)
I : KART or LRK initialization
K : KART (centimeter accuracy)
L : LRK (centimeter accuracy)

Flashes if number of SVs ≤ 4

Count of SV received on L1 if « H » position

processing mode. Otherwise, count of SVs used

UHF reception level:

: (flashing) UHF reception only 3 dB above

sensitivity threshold. System CANNOT operate

: 1/3 full : system can start operating

2/3 full : good operation
Full : optimized operation
(the higher the UHF level, the fuller the icon)

Receiver battery indicator:

:Icon empties as and when receiver

battery discharges
: (Flashing icon) receiver battery
voltage has reached preset lower
threshold (replace battery)

27
GPS antenna height
The system must accurately know the coordinates of the GPS antenna’s
phase center above the ground, at both the station and the rover. Three
different measurement methods are possible:
1. Height: phase 1) Height 2) Vertical 3) Oblique
center height is
measured directly
from the ground. Insert the
tape hook
Insert the arm
provided into the
antenna mast, just
into the arm,
2. Vertical: height of unroll it down
under the NAP00x
base plane)
to the ground
antenna base is Measure
Measure & and tighten it
Read the value
enter one of
measured with and enter
this height
these heights
given here by the
tape measure.
(instrument
respect to ground. (true height)
height)
Enter this value
into the palmtop

As the height of the

Station
Rover
phase center above
the antenna base is Tape measure

known (3.6 cm for

a NAP00x), the NAP00x’s phase center
system can deduce
the resulting height 3.6 cm
1.2 cm
by adding the two
values. Method
suitable for the rover.
3. Oblique: oblique measurement performed using the tool provided.
The system deduces automatically the phase center height with
respect to ground. Method suitable for the station.

28
Using the GSM option
The GSM can be used to complement the U-LINK radio.
Setup
External battery (not supplied)

5 to 32 V DC
2.5 A fuse
Consumption:
2.5 A under 5 V Power supply cable (U-LINK transmitter)

GSM
Length: 3.00 m

Micro-Fit 3.0
SubD15-m

Port D
Port B
RS232 cable
Length: 3.00 m
Station

SubD9-f
GSM
Micro-Fit 3.0

SubD15-m
SubD15-m

Power cable
Length: 0.75 m

Port D
(500 mA-12 V)

Port B
RS232 cable
Length: 0.75 m
Rover
SubD9-f

29
At the station:
- Select >4 - Connection
and choose “port B” in line 4:
- Select >3 - GSM Transmitter and then press to allow
the station to use the GSM (“ON” then appears top right).
The station will actually use the GSM only on rover request. The
parameters displayed on this screen (station No., data rate and type)
are normally the right ones as they were chosen earlier to operate
with the U-LINK radio.
At the rover:
- Select >4 - Connection
and choose “port B” in line 4:
- Select >1 - Operating
mode, select “GSM receiver”
(line 2) and dial the station
GSM call number (line7):
- Press the Q key to read the GSM reception level (it should be “1”
minimum, otherwise the GSM CANNOT be used)

- Press to call the station. In the status bar, check that the
requested operating mode is available after a few seconds, which
demonstrates that the GSM link operates normally. Go back to the
survey as such.
...
To restore operation with the U-LINK radio, select >1 - Operating
mode, press the S key to terminate the communication via GSM, and
then choose “UHF receiver” (line 2).

30