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Precision RTK Instructions

The manufacturer’s documentation is available here:

https://docs.cubepilot.org/user-guides/here-3/here-3-manual#rtk-use-operation

Preflight

NOTE: RTK Station should be the first thing unpacked and set up to allow the most time for position triangulation.

NOTE: The base station needs a certain amount of time to meet the accuracy requirements of your input. Testing indicates that in an unobstructed area without cover, obtaining a decent level of accuracy necessitates a short span of time; achieving a much higher degree of accuracy takes approximately an hour; while reaching the highest level of precision demands several hours.

The absolute geographic accuracy of the base station will affect the absolute geographic accuracy of the rover module without affecting the relative accuracy between the base station and rover. If your application does not require UAV with high absolute geographic accuracy, you do not need to set the base station’s precision too high, resulting in long survey time.

Even if the base station’s accuracy falls within a moderate range, the rover module’s position accuracy, in relation to the base station, can still reach a very high level, in the centimeter range.

  1. Power on RTK tablet.
  2. Check tablet sleep settings. Set to “never”

NOTE: If the tablet goes to sleep in flight, the data could lose the RTK positioning.

  1. Open FlightDeck app on your ground control station.
  2. Select Vision Aerial icon to get to RTK Settings.
    • Set desired accuracy.
    • Set minimum observation time.
    • Enter in known coordinates- as desired.
    • Select paper airplane icon to go back to the Fly View.
  3. Set up tripod.
    • Unfold and extend the legs of the tripod and lock into place.
    • Attach tablet mount to tripod.
    • Attach tablet to mount.
    • Place the tripod in a wide open area with a good view of the sky (not next to buildings or under trees).
    • Level the tripod using the bubble leveler.
    • Attach the base antenna.
    • Plug in the antenna coaxial cable to the base unit.
    • Plug in power cable from the tablet to the base unit.

NOTE: Be careful to minimize the movement of the tripod as much as possible as this should be a fixed location.

NOTE: Antenna cable should be plugged in before power to ensure radio signals have somewhere to go- failing to do this can result in a damaged RTK antenna.

  1. Turn on GCS
    • Select Vision Aerial icon to get to RTK Settings.
    • Set desired accuracy.
    • Set minimum observation time.
    • Select paper airplane icon to get back to the fly screen.
  2. Connect tablet wifi network to GCS hotspot.

NOTE: WiFi network name will be the serial number of the aircraft. Password is “visionaerial”.

NOTE: If there are connection issues, toggle the network between private and public connection.

  1. Ensure RTK icon on GCS has turned from RED to WHITE.
  2. Ensure aircraft GPS antenna is fast flashing green.
  3. Select the satellite icon on the GCS.
    • Check if RTK position is “float” or “fixed.”

In-flight Mapping / Manual Mission

  1. Ensure RTK icon on tablet stays WHITE.
  2. Ensure satellites icon on GCS says RTK position “fixed” or “float”.
  3. Stay within 30 ft from the RTK station. Any further could lose connection.

Post-Flight

  1. Complete Post Flight Checklist.
  2. RTK corrections will be automatically applied to the aircraft.
  3. RTK corrections will be automatically added to the metadata of the logger .csv file.