Top assistance November 29, 2007

RTK and Post-processing under Combined LGO

Post-processing of GPS data using LGO

Reminder:
A GPS calculating its position solely from signals emitted by satellites
the GPS or Glonass network generates a so-called "natural" position whose accuracy is
situated between 2 and 10m.

To obtain a centimeter-level position, one must work in RTK (Real Time Kinematic)
Kinematics). Two GPS units are then used: one is fixed and ideally positioned at a point.
known. It's the reference, or base, or also pivot. It continuously measures its
position that he compares with his true position. This generates a 'correction vector'
for each observation that is sent by radio to another mobile GPS, which, thanks to
These corrections generate a centimeter-level position in real time.
When there is no radio link between the reference and the mobile, the data are
recorded in each receiver and the correction of the mobile data will be done
after the field at the office: this is the post-processing. It is done here using the software
Leica Geo Office Combined.
We present here 3 cases:
1 - The base is at an unknown point and in radio contact with the mobile.
2 - The base is at an unknown point in radio link with the mobile.
3 - the base is on a known point and in radio link with the mobile.
Note: conditions for successful post-processing
Before the rise, refer to the table on the next page for the times
of recording.
The LGO Métropole configurator must have been installed after the combined LGO.
download from the Leica Geosystems France website / Support /
downloads/ software / LGO).
You must have connected your license USB key to the processing PC.
which the RINEX Import options and GNSS Post Processing are activated
(to verify it, plug in the key, and in LGO: Help / about / acquired options).
The computer must be connected to the Internet.

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Preliminary advice:
recording times on mobile and the database:

Base Mobile Distance Nb Sat. Weather Time Precision

Base- Necessary for occupation initialization
mobile by point Minimum requirements
max
Static Fixed on a Fixed on a From 0 to 4 mini. 20' if 4 hours. 20' if 4 hours. H: 5 mm ±
known point unknown point 5000 kms 4 0.5
Post- 15' if 5 hours. 15' if 5 hours.
Record some Record ppm 6RMS
8' is greater than or equal to
8 is
[Link] than or equal to 6.
treatment data data V : 5 mm ±
brutes GPS brutes GPS
cadence (cadence 2 ppm 6RMS
=15sec. 15sec.
advised recommended)

Static Fixed on a Mobile. < 30 kms 4 min. 2xCadence 20' if 4 hours. H : 5 mm ±

and known point of recording 0.5 ppm6
Record mini 15' is 5 hours.
itinerant Records of data V6.:
8' is greater than or equal to 5 mm ±
data brutes GPS (cad.=5sec
Post- brutes GPS in static and advised) 2 ppm 6RMS
treatment itinerant.
(cadence
=1sec. (cadence
advised) =1sec.
advised)

RTK Fixed on a Mobile. Limited by 5 min. 1 second ≈10 to 60 H: 1 cm ± 1

known point. the scope for seconds ppm
Weather Receive (1xpar of the initialization or more,
Transmet (1x sec.)of telemetry 4 ensuite V: 2 cm ±
Real parsec.) of the corrections to see
corrections Snapshot, 2 ppm RMS

RTK Transmit (1x Receive (1xper Like Like Like RTK Like RTK Like RTK
parsec.) of the sec.)des RTK is RTK yes yes radio; yes radio yes radio;
if not corrections corrections radio radio
of the radio As As As
and and As As Static and Static and Static and
Weather Static and Static and itinerant if itinerant if itinerant if
record of registers of itinerant if itinerant if record record register
Real, data data register record
or Post- brutes GPS if brutes GPS yes
no radio no radio
treatment

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RTK and Post-processing under Combined LGO

Scenario 1:
Base on raw recording (1 second) at an unknown point called "here".
Real-time radio link with the mobile (RTK).
Note: Here we will first correct the base position, using data from a
RGP station (Permanent GPS Network of the IGN). The elevation will then be corrected.
automatically thanks to the RTK connection.
1) Retrieve the data from the receivers:
Retrieve the complete jobs in the DBX directory of the CF card of the database and the
mobile, and paste them into a single folder somewhere on the processing PC.
2) Open LGO.
3) Import the raw data from the two jobs into Importer / Raw Data.
Open the directory containing the jobs retrieved from the CF card. Select
the jobs, choose the file type System 1200, and click on import.

4) Create a new project

The project window opens.
In the left window, right-click on Project, then New.

Name the project in the General tab.

In the Contacts tab, we can verify that the
the project is indeed in WGS84: the coordinate system
configured in the receiver's job will be imported with
the raw data.
So OK.
5) Assign data to the created project:

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The window affecting the data opens, select the project that has just been created.
and click on assign.
6) Visualize the project:

It has different tabs, of which only four are of interest to us:

The Visual/Edit tab allows you to view the data: raised points, points of
control, ID of points, baseline, etc...
The Trait/GPS tab allows for the post-processing of data,
The Point tab provides all the information about each point.
The Results tab allows you to critique the results obtained from the calculation of
baseline, and store them.
Switch to the GPS Trait tab:

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RTK and Post-processing under Combined LGO

Here we visualize the recording intervals of the raw data from the reference
posted at an unknown point (HERE), and recording the data collected on the
mobile in RTK.
7) Import the data from the RGP station:
Configure the data import for RGP:
In the Tools / Options / Internet tab, select automatic mode.
choose a selection mode based on distance or number of sites. And
enter the approximate coordinates of the base. It is from these coordinates
that LGO selects the closest RGP stations.

Import the data from the nearest RGP station:

In the Tools menu / Internet Download / General tab:

LGO automatically selects the nearest stations (to display them

in order of distances, click on the header of the distances column
Check the station that interests us: Here the registration on the base was done at 1
second, so we choose St Lo, the closest station, at Schedule 1 sec.
Choose the date and time slot for the sunrise, then click on Download.

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Once the download is complete, the Import button is activated. (if you have not it
but it's that you forgot to connect your license key). Click on
Importer.

In the Assign Data window, check in the settings tab that the option
merging the intervals is checked.
Assign this data to the ongoing project.

The downloaded data interval appears in the GPS Trait tab, here under the name
from ST Lo, the concerned RGP station.
By right-clicking on the "bars", then satellite window, you can view
Which satellites were taken into account for the measurement during acquisition, and in

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deselect a part if we believe it may interfere with the calculation for the
resolution of ambiguities.
8) After processing the data from the database: calculating a baseline between the
station RGP and the base ICI:

Using the Ref icons and Mobile in the toolbar, select the line
from the RGP station as a reference in red (here ST Lo), and the line from the base
(HERE) as a mobile in green.

Click on the processing icon.

The results tab comes to the forefront:

It presents the results of the calculations of the baseline created between the RGP station
(ST Lo) and our database (HERE)
Check that the ambiguities are properly resolved, that the CQ values are correct.
To analyze the data, you can right-click on the results line and
choose analysis. We then have access to information on the distribution of GPS in

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the sky during the time interval in which the measurement was made: the DOP
Dilution of precision based on the geometric distribution of satellites in
the sky: the lower it is, the better the measurement), the elevation of satellites, and their
azimuth, which can help us be critical of the natural solution obtained by the
GPS.
When it is estimated that the calculation is correct, the baseline is stored by clicking on
the stored icon in the taskbar. The 'stored status' column then changes to
"yes" and the baseline is visible in the Visual/Edit tab.

9) Update contact details in the ICI database:

Go to the Points tab. Select the line of the reference point 'HERE'. Click
right above and select "update reference triples."

The following window appears:

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RTK and Post-processing under Combined LGO

Select the line HERE and click OK

The coordinates of the base are thus corrected and the following message appears:

By clicking here on OK, we correct each point related to the base HERE with a line of
base RTK.

10) Means of control:

It is absolutely necessary to control oneself at a centimeter point of the network.
IGN to validate the data thus post-processed.
In this scenario, the ideal is to take an IGN point in RTK during the lift, the
base being linked to the mobile via RTK. Thus, after calculation, we compare the
real coordinates to calculated coordinates.
If this is not possible, it may be helpful to redo the calculation from the data.
brutes from another station of the RGP (create another project), and compare
then the coordinates obtained with the two bases.

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Case 2:
Base in raw recording (1 second) at an unknown point called 'here'.
No real-time radio connection with the mobile (RTK).
Note: Here we will first correct the position of the base, using data from a
station of the RGP (Permanent GPS Network of the IGN). We will then post-process the
data of the rise thanks to the corrected base.
Important: Before the start of the lift, the mobile must be configured for the
recording of raw data Static and Itinerant (On the field notebook:
Menu Config, Lift Parameters, Recording of raw observations). This
allows obtaining a kinematic chain to be post-processed: the post-processing does not take place
not on occupied points during your short times.
This mode requires a warm-up time before the start of the rise, and a certain
occupancy time of points (see table, line Static and itinerant / Post
Treatment).
The treatment is done as in case 1, up to step 8 included.
Once the position of the base here is corrected with respect to the RGP, it is validated. It is necessary to
process the lift data using the observations from the database as follows:

This step creates baseline lines between the collected data in the results tab.
and the base "HERE" that needs to be stored:

The control is then done as in case 1.

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Case 3:
Based on a known point.
Real-time radio link with the mobile (RTK).
This case does not require post-processing.
The data can be exported directly from the notebook without going through LGO.
terrain through the Exchange / Export data from Job menu, using the file of
format [Link].
The checks are done live on a centimeter-scale IGN terminal.

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