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GPS/RTK vs. Robotics. Some GPS lingo. RTK: Real Time KinematicRTK: Real Time Kinematic.

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Presentation on theme: "GPS/RTK vs. Robotics. Some GPS lingo. RTK: Real Time KinematicRTK: Real Time Kinematic."— Presentation transcript:

1 GPS/RTK vs. Robotics

2 Some GPS lingo. RTK: Real Time KinematicRTK: Real Time Kinematic

3 Some GPS lingo. RTK: Real Time KinematicRTK: Real Time Kinematic Phase Center: The actual point in the GPS antenna from where measurement is taken.Phase Center: The actual point in the GPS antenna from where measurement is taken.

4 Some GPS lingo. RTK: Real Time KinematicRTK: Real Time Kinematic Phase Center: The actual point in the GPS antenna from where measurement is taken.Phase Center: The actual point in the GPS antenna from where measurement is taken. Base Station: A GPS receiver which is usually setup over a control station. During RTK surveys a radio will be used to transmit the information collected at the base station to the rover.Base Station: A GPS receiver which is usually setup over a control station. During RTK surveys a radio will be used to transmit the information collected at the base station to the rover.

5 Some GPS lingo. Rover: A mobile GPS receiver used to measure new point.Rover: A mobile GPS receiver used to measure new point.

6 Some GPS lingo. Rover: A mobile GPS receiver used to measure new point.Rover: A mobile GPS receiver used to measure new point. Geoid: an equipotential gravity surface for the earth which, on average, coincides with the mean sea level in the open oceans. It is influenced by large masses on, or beneath, the earth’s surface. (gravity is perpendicular to the geoid)Geoid: an equipotential gravity surface for the earth which, on average, coincides with the mean sea level in the open oceans. It is influenced by large masses on, or beneath, the earth’s surface. (gravity is perpendicular to the geoid)

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9 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup.

10 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup. Not limited by line of site to base station.Not limited by line of site to base station.

11 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup. Not limited by line of site to base station.Not limited by line of site to base station. Limited loss of accuracy with increased distance from base station.Limited loss of accuracy with increased distance from base station.

12 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup. Not limited by line of site to base station.Not limited by line of site to base station. Limited loss of accuracy with increased distance from base station.Limited loss of accuracy with increased distance from base station. Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center.Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center.

13 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup. Not limited by line of site to base station.Not limited by line of site to base station. Limited loss of accuracy with increased distance from base station.Limited loss of accuracy with increased distance from base station. Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center.Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center. Real time coordinates & continuously updates your stakeout position.Real time coordinates & continuously updates your stakeout position.

14 The UP side of GPS/RTK Can cover up to 6 miles from one setup.Can cover up to 6 miles from one setup. Not limited by line of site to base station.Not limited by line of site to base station. Limited loss of accuracy with increased distance from base station.Limited loss of accuracy with increased distance from base station. Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center.Under good conditions the horizontal position can be relied upon to be within ± 0.03ft plus 1ppm from phase center to phase center. Real time coordinates & continuously updates your stakeout position.Real time coordinates & continuously updates your stakeout position. One man operation is possible.One man operation is possible.

15 The DOWN side of GPS/RTK Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions.Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions.

16 The DOWN side of GPS/RTK Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions.Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions. Poor geoid model in Montana.Poor geoid model in Montana.

17 The DOWN side of GPS/RTK Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions.Vertical accuracy is plus or minus 0.065ft plus 1 ppm from phase center to phase center under good conditions. Poor geoid model in Montana.Poor geoid model in Montana. Unable to work under a tree canopy or near large obstructions to the sky.Unable to work under a tree canopy or near large obstructions to the sky.

18 The DOWN side of GPS/RTK Bad initialization are possible and can go undetected without returning to an existing control point to perform a checkBad initialization are possible and can go undetected without returning to an existing control point to perform a check

19 The DOWN side of GPS/RTK Bad initialization are possible and can go undetected without returning to an existing control point to perform a check.Bad initialization are possible and can go undetected without returning to an existing control point to perform a check. Requires a large amount of training.Requires a large amount of training.

20 The DOWN side of GPS/RTK Bad initialization are possible and can go undetected without returning to existing control point to perform a check.Bad initialization are possible and can go undetected without returning to existing control point to perform a check. Requires a large amount of training.Requires a large amount of training. Possibility of 20 minutes of down time per day.Possibility of 20 minutes of down time per day.

21 The DOWN side of GPS/RTK Bad initialization are possible and can go undetected without returning to existing control point to perform a check.Bad initialization are possible and can go undetected without returning to existing control point to perform a check. Requires a large amount of training.Requires a large amount of training. Possibility of 20 minutes of down time per day.Possibility of 20 minutes of down time per day. Unable to shoot power lines and building corners.Unable to shoot power lines and building corners.

22 The DOWN side of GPS/RTK Bad initialization are possible and can go undetected without returning to existing control point to perform a check.Bad initialization are possible and can go undetected without returning to existing control point to perform a check. Requires a large amount of training.Requires a large amount of training. Possibility of 20 minutes of down time per day.Possibility of 20 minutes of down time per day. Unable to shoot power lines and building corners.Unable to shoot power lines and building corners. Takes a minimum 6 seconds to take a typical topo shot.Takes a minimum 6 seconds to take a typical topo shot.

23 The UP side of robotics Can cover up to 2000ft from each setup and delivers finish grade accuracy.Can cover up to 2000ft from each setup and delivers finish grade accuracy.

24 The UP side of robotics Can cover up to 2000ft from each setup and delivers finish grade accuracy.Can cover up to 2000ft from each setup and delivers finish grade accuracy. Can shoot building corners, overhead power lines, etc.Can shoot building corners, overhead power lines, etc.

25 The UP side of robotics Can cover up to 2000ft from each setup and delivers finish grade accuracy.Can cover up to 2000ft from each setup and delivers finish grade accuracy. Can shoot building corners, overhead power lines, etc.Can shoot building corners, overhead power lines, etc. Real time coordinates & continuously updates your stakeout position.Real time coordinates & continuously updates your stakeout position.

26 The UP side of robotics One man operation is possible.One man operation is possible.

27 The UP side of robotics One man operation is possible.One man operation is possible. Capable working under or in trees canopies.Capable working under or in trees canopies.

28 The UP side of robotics One man operation is possible.One man operation is possible. Capable working under or in trees canopies.Capable working under or in trees canopies. Takes 1 second to take a typical topo shot.Takes 1 second to take a typical topo shot.

29 The UP side of robotics One man operation is possible.One man operation is possible. Capable working under or in trees canopies.Capable working under or in trees canopies. Takes 1 second to take a typical topo shot.Takes 1 second to take a typical topo shot. Minimum training issue.Minimum training issue.

30 The UP side of robotics One man operation is possible.One man operation is possible. Capable working under or in trees canopies.Capable working under or in trees canopies. Takes 1 second to take a typical topo shot.Takes 1 second to take a typical topo shot. Minimum training issue.Minimum training issue. No down time, works 24/7.No down time, works 24/7.

31 The DOWN side of robotics Limited by line of sight & radio signal.Limited by line of sight & radio signal.

32 PRAY TEST SITES

33 Purpose: To compare robotic instruments. To compare robotic instruments.

34 PRAY TEST SITES Purpose: To compare robotic instruments. To compare robotic instruments. To compare robotic instruments against GPS. To compare robotic instruments against GPS.

35 PRAY TEST SITES Purpose: To compare robotic instruments. To compare robotic instruments. To compare robotic instruments against GPS. To compare robotic instruments against GPS. To document savings in man-hours to the department. To document savings in man-hours to the department.

36 Test site No. 1 Description: In a cross section fashion shots were taken on pavement and proper coding was applied to each shot. Obstruction to instruments were not a factor. However there were some overhanging trees, which did have some effect on GPS.

37 Test site No. 1 Purpose: To test vertical and horizontal accuracies of the robotic instruments using a conventional instrument using the Sokkia total-station as our standard. To test vertical and horizontal accuracies of the robotic instruments using a conventional instrument using the Sokkia total-station as our standard. To show the savings in man-hours Robotic and RTK could give in an obstruction free situation. To show the savings in man-hours Robotic and RTK could give in an obstruction free situation.

38 Test site No. 1 results INSTRUMENTSHOT OVERHIGH/LOWAVERAGETIMEPERSONNELMAN FAILED SHOTS 2cm VERTICALVERTICAL REQUIREDMIN. 143 POSSIBLE SOKKIASTD 33 min.399STD TRIMBLE S / min.1460 LEICA 1200TPS00.010/ min.1400 TRIMBLE RTK / min.1601

39 Test site No. 2 Description: Shots were taken at top of bank, toe of slope, and along a fence line. Some interspersed obstructions were present both towards the instrument and the sky.

40 Test site No. 2 Purpose: The main purpose was to test the tracking capabilities of the robotics instruments. The main purpose was to test the tracking capabilities of the robotics instruments.

41 Test site No. 2 Purpose: The main purpose was to test the tracking capabilities of the robotics instruments. The main purpose was to test the tracking capabilities of the robotics instruments. To demonstrate the savings in man-hours Robotic instruments and RTK could give in a semi obstructed situation. To demonstrate the savings in man-hours Robotic instruments and RTK could give in a semi obstructed situation.

42 Test site No. 2 results INSTRUMENTSHOT OVERHIGH/LOWAVERAGETIMEPERSONNELMAN FAILED SHOTS 2cm VERTICALVERTICAL REQUIREDMIN. 56 POSSIBLE SOKKIASTD 16 min.348 min.STD TRIMBLE S6N/A GRD SHOTSN/A 28 min.1 0 LEICA 1200TPSN/A GRD SHOTSN/A 23 min.1 0 TRIMBLE RTKN/A GRD SHOTSN/A 18 min.1 12

43 Test site No. 3 Description: Shots were taken in heavily wooded area.

44 Test site No. 3 Purpose: To test tracking and search capabilities of the robotics. To test tracking and search capabilities of the robotics.

45 Test site No. 3 Purpose: To test tracking and search capabilities of the robotics. To test tracking and search capabilities of the robotics. We also intend to show the saving in man-hours Robotic could give in a heavily obstructed situation.We also intend to show the saving in man-hours Robotic could give in a heavily obstructed situation.

46 Test site No. 3 results INSTRUMENTSHOT OVERHIGH/LOWAVERAGETIMEPERSONNELMAN FAILED SHOTS 2cm VERTICALVERTICAL REQUIREDMIN. 28 POSSIBLE SOKKIASTD 11 min.333STD TRIMBLE S6N/A GRD SHOTSN/A 19 min.1190 LEICA 1200TPSN/A GRD SHOTSN/A 35 min.1351 TRIMBLE RTKN/A GRD SHOTSN/A 28

47 Test sites summary GPS missed a total of 41of 227 shots.

48 Test sites summary GPS missed a total of 41of 227 shots. Robotics perform all three tests in 87 man- minutes, while conventional surveying required 180 man-minutes.

49 Test sites summary GPS missed a total of 41of 227 shots. Robotics perform all three tests in 87 man- minutes, while conventional surveying required 180 man-minutes. Robotic performed well under all conditions.

50 Our findings The cost of GPS 39k-44k and Robotic 30k-38k.The cost of GPS 39k-44k and Robotic 30k-38k. GPS is not capable of staking finish grade elevations, while this is a strong point of robotic.GPS is not capable of staking finish grade elevations, while this is a strong point of robotic. GPS is not capable of working under all conditions, while robotics can.GPS is not capable of working under all conditions, while robotics can. Navigation & one man operation for both system are essentially equal.Navigation & one man operation for both system are essentially equal.

51 Conclusion Robotic seem to be the best option for the Department’s construction and topo crews!Robotic seem to be the best option for the Department’s construction and topo crews! However RTK does have some up sides, and should also be consider.However RTK does have some up sides, and should also be consider.

52 This is the proposed purchasing schedule with cost data, implementation plan and the replacement schedule for survey equipment to include: Replacement of current total stations; Purchase and Replacement of robotic total stations; Purchase and Replacement of RTK units. Plan is subject to change. Purchasing/Replacement Plan for Survey Equipment

53 Fiscal Year Equipment/ItemBudgetCost 2006Standard Total Stations: 10 Sokkia Set 3130R3 (2 for each district). $100,000$82,570 RTK setups: 8 R8s (2 Helena Survey, 6 District Survey) $184, RTK Setups: 6 R8s (2 Helena Survey, 4 District Survey) $135,000purchased Robotic Total Stations: 11 (two for each district and one for Survey) * $418,000 Standard Total Stations: 2 (spares in Helena to replace unserviceable machines) $18,000 Total FY 07 =$436, Standard Total Stations: 2 (spares in Helena to replace unserviceable machines, if needed) ** $18,900 ($39,900/each) Robotic Total Stations: 10 (two for each district) ** $399,000 RTK Setups: Limited (10 District Construction) $135,000 Total FY 08 =$552,900

54 Fiscal Year Equipment/ItemBudgetCost 2009Robotic Total Stations: 15 (three for each district) $628,425 (41,895/each) RTK Setups: 6 R8s (6 Helena Survey)$135,000 Total FY 09 =$763, Robotic Total Stations: 10 (two for each district) $439,890. ($43,989/each) RTK Setups: Limited (10 District Construction) $135,000 Total FY 10 =$574, Robotic Total Stations: 10 (two for each district) $461,880 ($46,188/each) RTK Setups:4 R8s$90,000 Total FY 11 =$551,880 After 2011 every district crew will have a Robotics total station.


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