Page 1 REACH RS2/RS2+ USER DOCUMENTATION Firmware version 30 Emlid Flow app version 8.1 or newer June 15, 2023 ©2023 Emlid Tech Kft...
Page 2: Table Of Contents
1.2.5 Update Reach Firmware ......1.3 Connecting to Reach RS2/RS2+ ......
Page 3 2.7.7 Placing the base station in the ﬁeld ..... . 2.7.8 Placing Reach RS2/RS2+ ......
Page 4 5.4.1 Conﬁguring Bluetooth connection ..... . . 102 5.4.2 Conﬁguring Emlid Flow ......104 5.4.3 Position streaming .
Page 5 5.7 senseFly RTK guide ........126 5.7.1 Setting up Reach RS2/RS2+ ......126 5.7.2 Pairing with PC .
Page 6 7.6.2 Enable raw data debug option ......158 7.6.3 How to restore initial settings ......158 7.6.4 Overview .
Page 7: Before You Start
1.1 Power supply 1.1.1 Battery Reach RS2 and Reach RS2+ have a built-in LiFePO4 battery providing up to 22 hours of autonomous work when logging data and up to 16 hours as a 3.5G or LTE rover, respectively. 1.1.2 Charging over USB...
Page 8: Power Up Reach Rs2/Rs2
• Open a list of Wi-Fi networks on your smartphone or tablet. • Connect to a network named reach:xx:xx. • Type network password: emlidreach. Once you successfully connected to Reach’s hotspot, you can go to Emlid Flow and set up connection to your Wi-Fi network. 1.2.4 Set up Wi-Fi connection Note: Make sure that your Wi-Fi network uses 2.4 GHz band.
Page 9 3. Name your Reach and apply changes. 4. Select your Wi-Fi network from the list of available networks.
Page 10 5. Enter the password and tap Connect. Reach RS2/RS2+ will stop broadcasting Wi-Fi and connect to your network. The Network LED will blink rapidly while scanning for networks. Once Reach connects to Wi-Fi, the Network LED will be solid blue.
Page 11: Update Reach Firmware
After connecting to Reach RS2/RS2+, the app will check available ﬁrmware updates. Follow the steps below to get the latest update: 1. Wait until Emlid Flow checks for the latest update. If there is an update available, it will start the updating process.
Page 12: Connecting To Reach Rs2/Rs2
Wi-Fi network, set it up for the survey, and collect and stake out points. In this guide, you will ﬁnd information on how to connect to your Reach RS2/RS2+ using the Emlid Flow app.
Page 13: Connecting To Reach Rs2/Rs2+ Using Emlid Flow
1.3.2 Connecting to Reach RS2/RS2+ using Emlid Flow When the Wi-FI connection is established, you can connect to your unit using Emlid Flow. 1. Open the app. 2. Choose your unit from the list of available devices.
Page 14: Placement
Once you connect to your Reach RS2/RS2+ via Emlid Flow, you can access the settings and set it up for the survey. 1.4 Placement Tip: A well-placed Reach base is essential for achieving good RTK positioning results. You can place your smartphone near the window in your house and it will obtain GNSS coordinates after some time, but for RTK such environment won’t be suﬃcient.
Page 15: No Electronics Nearby
If it doesn’t ﬁnd a known network, it switches to hotspot mode. RTK Status This LED is used to display Emlid Flow RTK status. RTK status has two colors: white and blue. White indicates incoming corrections, and blue indicates whether outgoing corrections are enabled.
Page 16 The LED on the Power button shows two things: whether the receiver is on/off and the point collection process. When Reach is turned on, it lights up with a solid white light. When the point collection has started, the light ﬂashes rapidly.
Page 17: Rtk Quickstart
2 RTK quickstart 2.1 How RTK works RTK is a technique used to improve the accuracy of a standalone GNSS receiver. Traditional GNSS receivers, like the one in a smartphone, could only determine the position with 2–4 meters (7–13 feet) accuracy. RTK can give you centimeter accuracy. GNSS receivers measure how long it takes for a signal to travel from a satellite to the receiver.
Page 18: Single-Band And Multi-Band Receivers
• independency from local providers, no additional fees by NTRIP service. 2.1.3 Single-band and multi-band receivers Roughly speaking, there are two types of receivers: single-band (L1) and multi-band (L1/L2 or more). Their differences come from how much data they can receive from satellites. For example, it helps to increase the maximum distance between base and rover, which is also called baseline: Single-band maximum baseline Multi-band maximum baseline...
Page 19: Base And Rover Setup
2.2 Base and rover setup This guide shows how to set up two Reach RS2/RS2+ units as a rover and a base and how to make them work over LoRa radio in RTK mode. 2.2.1 Rename Reach devices By default, every Reach RS2/RS2+ has the same name, and the ﬁrst thing you need to do is...
Page 20 4. Return to the Receivers screen. On the Base settings screen, go to RTCM3 messages. 5. Select to output RTCM3 messages as follows: • ARP station coordinates at 0.1 Hz • Other MSM4 messages at 0.5 Hz 6. Tap Apply. 7.
Page 21: Set Up Your Rover
Note: Make sure to select appropriate frequency and output power according to your local regulations. In case there are restrictions, frequency band limitations will be applied automatically. 9. Set air data rate at 9.11 kb/s. Tap Save. Now you can proceed to set up your rover unit. 2.2.3 Set up your rover To complete conﬁguring RTK settings and communication over LoRa radio between the base and the rover, you need to set up your rover.
Page 22: Place Reach Rs2/Rs2+ Units
Tip: To make sure that corrections are passing from the base to the rover, you can put both receivers by the window for a few minutes to provide the sky visibility. After that, open Emlid Flow, connect to the rover and go to the Status screen. Scroll down to the Corrections section and make sure that your rover is receiving corrections.
Page 23: View Results
When you completed your RTK setup over LoRa radio, you can see the current solution status in the top right corner of the Emlid Flow app: SINGLE means that the rover has found a solution relying on its own receiver and base corrections are not applied.
Page 24: Connecting Reach To Internet Via Wi-Fi
2.3.2 Conﬁgure Wi-Fi connection settings in Emlid Flow Note: Make sure that your Wi-Fi network uses 2.4 GHz band. After connecting to the Reach hotspot in Emlid Flow, set up the connection to your local Wi-Fi network: 1. On the Receivers screen, tap Wi-Fi.
Page 25 • Try connecting to another Wi-Fi network. • Access Reach in your Wi-Fi network. After conﬁguring Wi-Fi connection settings in Emlid Flow, connect your mobile device to Reach: 1. Connect your smartphone or tablet to the same Wi-Fi network as Reach.
Page 26: Connecting Reach To The Internet Via Mobile Hotspot
6. Choose Reach from the list of available devices. 7. Conﬁgure Wi-Fi connection settings in Emlid Flow. After connecting to the Reach hotspot in Emlid Flow, set up the connection to your mobile device hotspot: Note: Check that your device’s mobile hotspot is disabled to ensure a successful connection.
Page 27 Rebooting Reach using Emlid Flow Alternatively, you can reboot your Reach using Emlid Flow. Connect your device to the Reach hotspot again. Then open Emlid Flow and refresh the list of devices to connect to your Reach. After that, tap the name of your Reach and restart it.
Page 28: Connecting Reach To The Internet Via Built-In Modem
• Try connecting to another Wi-Fi network. • Access Reach in your Wi-Fi network. When your Reach is connected to your mobile hotspot, access it following the steps below: 1. Open Emlid Flow. 2. Refresh the list of available devices. 3. Choose Reach from the list.
Page 29: Insert A Sim Card
2.5.1 Insert a SIM card Note: Make sure you have a nano-SIM card. You can cut your SIM card to match the format. To insert the SIM card into your Reach, follow the steps below: 1. Find the SIM card slot under the black sealing. 2.
Page 30: Enable Mobile Data
When the SIM card is inserted, connect your Reach to the internet as follows: 1. Connect your device to the receiver’s hotspot using the Emlid Flow app. Tip: You can read how to connect to the receiver’s hotspot using the Emlid Flow app in the Connecting to Reach guide.
Page 31 Some SIM cards may require ﬁlling in all the ﬁelds in the dropdown menu. 5. Tap Apply. 6. Switch mobile data on. Note: Some SIM cards require enabling the Data roaming option to connect to the network. Tip: If you can’t connect to a cellular network, do the following: •...
Page 32: Working With Ntrip
To get NTRIP corrections, connect your Reach to the internet via your control device’s hotspot or built-in cellular modem. Tip: To learn more about connecting your Reach RS2/RS2+ to the internet, check the following guides: • Connecting Reach to internet via built-in modem •...
Page 33 3. Tap Apply. After conﬁguring GNSS settings, set up the correction input as follows: 1. Go to the Correction input screen. 2. Select NTRIP. 3. Tap Add proﬁle and ﬁll in the information from your NTRIP provider. Tip: To ﬁnd out which mount point suits you better, check the website of your NTRIP provider. The closer the mount point, the more precise your solution will be.
Page 34: Provide Reach Rs2/Rs2+ With Clear Sky View
Tip: You can add a required number of NTRIP proﬁles and choose between them right on the Correction input screen later. 2.6.4 Provide Reach RS2/RS2+ with clear sky view Before surveying, make sure your Reach has a clear sky view of at least 30 degrees above the horizon.
Page 35: Placing The Base
2.7.1 Absolute and relative position Emlid Flow has several ways to determine or set the base station position providing various levels of accuracy. Let’s take a look at the illustration below (ﬁgure 1). RTK algorithm precisely calculates the distance between the base and the rover. This distance is called the Baseline.
Page 36: Ways To Set The Base
position. In this case, the offset delta X, delta Y, delta Z between actual True position and the Base station position should be avoided or reduced. Caution: The absolute position of the rover is accurate only to the same accuracy as the position of the base station.
Page 37 Numbers in the table are approximate and only for reference purposes. Your experience may vary in different conditions, always follow appropriate survey practices! No matter which method you use, the relative position of the rover will always be cm-precise, the actual accuracy will be set by the accuracy of the base position.
Page 38: Manual
Pay attention and carefully place the base over a known point and measure the height of the antenna from the mark. It will help to avoid shifts from the absolute position and keep measurements accurate. Refer to Placing Reach RS2/RS2+ in the ﬁeld for detailed instructions. 2.7.4 Average Let’s take a closer look at setting up the base using the position averaging with single, ﬂoat...
Page 39 The left illustration below (see ﬁgure 3) shows the paths of the rover which passes the marked rectangular contour several times. This rover receives the corrections from the base conﬁgured using averaged single solution. While the position for each individual path lies within the receiver precision limits, the absolute position may differ by up to a few meters.
Page 40: Post-Processed Kinematics
General steps: 1. Enable logging of raw data and record log for about an hour. 2. Export log with the collected data from Emlid Flow to your PC. 3. Refer to the PPK in Static mode tutorial. 4. After you get the coordinates you may enter them manually in the Base coordinates section.
Page 41: Placing The Base Station In The Field
GPS control surveying. 2.7.8 Placing Reach RS2/RS2+ When placing your Reach RS2/RS2+ in the ﬁeld, make sure your Reach device is placed precisely above the marked point on the tripod and leveled. If you are setting up base coordinates manually, you need to measure the antenna height offset.
Page 42: Ppk Quickstart
3 PPK quickstart 3.1 How PPK works Note: To learn more about post-processing with our cross-platform desktop application Emlid Studio, check out our documentation. PPK stands for Post-Processed Kinematic. 3.1.1 Deﬁnitions and differences from RTK Post-Processed Kinematic (PPK) is an alternative technique to Real-Time Kinematic (RTK).
Page 43: How To Log Data For Ppk
– just like your DJI drone. 3.2 How to Log Data for PPK This guide shows how to record logs for Post-Processed Kinematic and download them using Emlid Flow. 3.2.1 Overview Post-Processed Kinematic or simply PPK is a technique that requires processing raw GNSS logs from both base and the rover to receive an accurate positioning track or separate points after the survey.
Page 44 Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 45 7. Tap Show conﬁguration and select the required satellite systems. Note: Make sure that you have chosen the same set of satellite systems both on the rover and the base. 8. Set the logging interval at Full rate. 9. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld.
Page 46: Download Logs
Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen. 12. Enable log recording by tapping the Start recording button. 13. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish.
Page 47: How To Log Data For Stop & Go With Emlid Flow
Emlid Flow. 3.3.1 Overview Stop & Go with Emlid Flow is a technique that involves the use of a base placed at a known point and a rover attending all unknown points and occupying each one for a short time.
Page 48 Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 49 8. Set the logging interval at Full rate. 9. Use antenna height and enter the measured height to the bottom of the receiver for the base. Don’t use it for the rover. 10. Leave the Marker name ﬁeld empty. 11. Tap Apply and start. Tip: You can start recording automatically when your receiver is turned on.
Page 50: Download Logs
13. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish. 3.3.3 Download logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device. 1. Go to the Logs section at the bottom of the Logging screen. Note: You can also ﬁnd information on the logs size and recording date and time here.
Page 51: How To Log Data For Ppp
3. Save your log depending on the device you use. Tip: If you do not need your logs anymore, you can delete them using the Select button. When your logs are downloaded, you can start working with your data in Emlid Studio. 3.4 How to log data for PPP This guide shows how to record logs for the Precise Point Positioning services and download them using Emlid Flow.
Page 52 Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 53 9. Enable log recording by tapping the Start recording button. Note: PPP services requires recording the data for at least 4 hours to get the best accuracy. 10. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish. Tip: You may log the data for up to 24 hours, depending on the accuracy required.
Page 54: Downloading Logs
3.4.3 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device. 1. Go to the Logs section at the bottom of the Logging screen. Note: You can also ﬁnd information on the logs size and recording date and time here. 2.
Page 55: How To Log Data For Opus
Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 56 6. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 7. Fill in the point’s name in the Marker name ﬁeld. 8. Tap Apply and start. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 57: Downloading Logs
Caution: Wait for data processing to ﬁnish. Tip: You may log the data for up to 24 hours, depending on the accuracy required. Once you ﬁnish the survey, don’t forget to turn off raw data recording in the logging settings. 3.5.3 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 58 2. To export the ﬁle, tap the Download button. 3. Save your log depending on the device you use. Tip: If you do not need your logs anymore, you can delete them using the Select button. When the logs are downloaded, you can submit the data to NOAA’s OPUS for processing.
Page 59: Tutorials: Post-Processing
4 Tutorials: Post-processing 4.1 How PPP works sec:how-ppp-works] With the Precise Point Positioning (PPP) technique, you may accurately determine the coordinates of a static point anywhere in the world without real-time corrections or a base station nearby. 4.1.1 Overview A standalone receiver ﬁnds out its position relying on the data obtained from satellites only. Along with raw data, it gets navigation messages with satellite clock offset, the ionospheric and tropospheric corrections, etc.
Page 60: Canadian Spatial Reference System Precise Point Positioning (Csrs-Ppp)
4.2 Canadian Spatial Reference System Precise Point Positioning (CSRS-PPP) This guide explains how to get the precise coordinates of a standalone receiver using the Canadian NRCan CSRS-PPP service. 4.2.1 Overview The Canadian Spatial Reference System (CSRS) PPP service is provided by Natural Resources Canada’s Canadian Geodetic Survey.
Page 61 Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 62 6. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 7. Fill in the point’s name in the Marker name ﬁeld. 8. Tap Apply and start. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 63: Downloading Logs
Tip: You may log the data for up to 24 hours, depending on the accuracy required. Once you ﬁnish the survey, don’t forget to turn off raw data recording in the logging settings. 4.2.5 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 64: Submitting Data To Nrcan Csrs-Ppp Service
3. Save your log depending on the device you use. Tip: If you do not need your logs anymore, you can delete them using the Select button. 4.2.6 Submitting data to NRCan CSRS-PPP service Once the logs are downloaded, export them to your PC in a preferred way and submit the data to NRCan CSRS-PPP for processing.
Page 65: Setting Up Obtained Base Coordinates In Emlid Flow
If you want to use the obtained coordinates as a base position, you can enter the base coordinates in Emlid Flow. 1. Open Emlid Flow and connect to the Reach you want to use as a base. 2. On the Receivers screen, tap Base settings.
Page 66: Ibge-Ppp-Online Service For Post-Processing Gnss Data
4.3 IBGE-PPP—Online service for post-processing GNSS data This guide explains how to get the precise coordinates of a standalone receiver using the IBGE-PPP service. 4.3.1 Overview IBGE-PPP is a free online GNSS data processing service provided by Instituto Brasileiro de Geograﬁa e Estatística (Brazilian Institute of Geography and Statistics).
Page 67: Recording Rinex Logs On Reach
Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 68 6. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 7. Fill in the point’s name in the Marker name ﬁeld. 8. Tap Apply and start. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 69: Downloading Logs
10. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish. Tip: You may log the data for up to 24 hours, depending on the accuracy required. Once you ﬁnish the survey, don’t forget to turn off raw data recording in the logging settings. 4.3.4 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 70: Submitting Data To Ibge Service
ﬁle (.**O). 4. Choose EML_REACH_RS2 NONE in the Tipo de Antena (Antenna Type) dropdown menu. Tip: For Reach RS2+, choose EML_REACH_RS2+ NONE. 5. Enter the pole height in the Altura da antena (Antenna height) ﬁeld and apply changes by checking the A altura da antena somente será...
Page 71: Setting Up Obtained Base Coordinates In Emlid Flow
If you want to use the obtained coordinates as a base position, you can enter the base coordinates in Emlid Flow. 1. Open Emlid Flow and connect to the Reach you want to use as a base. 2. On the Receivers screen, tap Base settings.
Page 72: How Auspos Works
4.4.2 How AUSPOS works A standalone receiver ﬁnds its position by relying on the raw data obtained from satellites only. In this case, it can determine its position at the several-meter level. To improve the accuracy, the receiver can be used with a base station in the RTK setup. Since both receivers work in the same conditions, the base station sends corrections that eliminate ionospheric and tropospheric delays, clock errors of the receiver and satellites and improve accuracy.
Page 73: Recording Rinex Logs On Reach
4.4.4 Recording RINEX logs on Reach To record logs for AUSPOS, perform the following steps: 1. Open Emlid Flow and connect to your Reach. 2. Go to the Logging screen. 3. On the Receivers screen, tap Settings. 4. Select the AUSPOS preset.
Page 74 Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 75: Downloading Logs
Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen. 9. Enable log recording by tapping the Start recording button. Note: AUSPOS requires recording the data for at least 4 hours to get the best accuracy. To ﬁnish recording logs, tap the End recording button.
Page 76: Submitting Data To Auspos Service
3. Enter the pole height in the Height (m) ﬁeld. 4. Choose EML_REACH_RS2 NONE in the Antenna Type ﬁeld. Tip: For Reach RS2+, choose EML_REACH_RS2+ NONE. 5. In the Email Address ﬁeld, enter your email address to get the results.
Page 77: Assessing Auspos Results
Tip: After you get the solution report, it might be useful to check how accurate the results are. The most accurate AUSPOS solutions have no warning messages in the report. 4.4.8 Setting up obtained base coordinates in Emlid Flow If you want to use the obtained coordinates as a base position, you can enter the base coordinates...
Page 78: Noaa's Online Positioning User Service (Opus)
1. Open Emlid Flow and connect to the Reach you want to use as a base. 2. On the Receivers screen, tap Base settings. 3. Tap the Conﬁgure button. 4. Set the Coordinates entry method to Manual. 5. Specify the antenna height and enter the coordinates.
Page 79: Placing Reach
accuracy, the receiver can be used with a base station in the RTK setup. Since both receivers work in the same conditions, the base station sends corrections that eliminate the offsets and improve the accuracy. OPUS allows achieving a centimeter-level accurate position of a point if you have only one receiver.
Page 80: Recording Rinex Logs On Reach
Tip: While recording in the RINEX format, you can log the UBX ﬁle as a backup. UBX ﬁle can be used to adjust RINEX ﬁle settings in the Converter tool in Emlid Studio. You can enable logging in the UBX format in the logging settings in Emlid Flow.
Page 81 6. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 7. Fill in the point’s name in the Marker name ﬁeld. 8. Tap Apply and start. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 82: Downloading Logs
Caution: Wait for data processing to ﬁnish. Tip: You may log the data for up to 24 hours, depending on the accuracy required. Once you ﬁnish the survey, don’t forget to turn off raw data recording in the logging settings. 4.5.5 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 83: Submitting Data To Noaa's Opus Service
2. Click on the Choose ﬁle button and browse for the observation ﬁle (.**O). 3. Choose EML_REACH_RS2 NONE in the Antenna ﬁeld. Tip: For Reach RS2+, choose EML_REACH_RS2+ NONE. 4. Type a pole height in the Antenna Height ﬁeld. 5. In the email address ﬁeld, enter your email address to get the results.
Page 84: Assessing Noaa's Opus Results
If you want to use the obtained coordinates as a base position, you can enter the base coordinates in Emlid Flow. 1. Open Emlid Flow and connect to the Reach you want to use as a base. 2. On the Receivers screen, tap Base settings.
Page 85: Tutorials: Integration With External Software And Devices
How RTK works article. Conﬁgure Reach unit to act as a rover in RTK. Getting corrections from Reach RS2/RS2+ base on Reach RS2/RS2+ rover: Set up RTK communication between 2 Reach RS2/RS2+ units over LoRa radio following this video guide.
Page 86: Access An Android Device
Note: Reach name is displayed just above its MAC. In this guide, we used the unit named as Reach. 5.1.4 Access an Android device 1. Navigate to the Bluetooth conﬁguration screen. Activate the Bluetooth connection. 2. Wait for Reach to be listed as an available device. Tip: Keep Reach within a few meters from your Android device.
Page 87: Position Streaming From Reach To Android
5. Enter the PIN code of your Reach unit and conﬁrm it. Reach and Android device are now paired. 5.1.5 Position Streaming from Reach to Android 1. Open Emlid Flow and connect to your Reach. 2. Go to Settings and tap Position streaming 1. 3. Select Bluetooth.
Page 88: Android Mock Location
5. Tap Format and choose NMEA. Apply changes. 5.1.6 Android mock location We provide a guide on how to use Reach with Lefebure NTRIP Client. Besides being an NTRIP Client, this app also allows NMEA data input via Bluetooth and supports Android feature called mock location.
Page 89 2. Open Developer options on your Android device and choose Lefebure NTRIP Client in the Select mock location app ﬁeld. Note: It is recommended to switch off the power-saving mode on your phone as it may limit background data usage for the Lefebure NTRIP client app. 3.
Page 90 Inside the receiver’s settings set the following: • Conﬁgure Receiver Connection as External via Bluetooth. • Change Bluetooth device to the Reach you are paired with. • Change Bluetooth Connection Method to Secure via Reﬂection. • Enable GPS Mock Locations.
Page 91: Collecting Data With Reach And Arcgis
5. Go back to the main screen and tap the Connect button. Tip: Check the log messages to conﬁrm the Bluetooth connection got established and the information about satellites is updated. From this moment on, all apps on the Android device that use location services will automatically have access to the positional data streamed from Reach.
Page 92: Arcgis Survey123 Integration
• Reach Reach RS2/RS2+ To start, download the ArcGIS Survey123 app from the App Store or Google Play and connect your Reach Reach RS2/RS2+ to the iOS or Android device using the Emlid Flow app. In this tutorial, we use an iOS device.
Page 93: Configuring Settings In Arcgis Survey123
5.2.5 Conﬁguring settings in ArcGIS Survey123 1. Open the ArcGIS Survey123 app. 2. Tap the GNSS location icon. 3. Tap the Settings icon.
Page 94 4. Tap Add location provider. 5. Choose the Network connection type.
Page 95 Port ﬁeld. Tip: You can check the IP address of your Reach Reach RS2/RS2+ in the Emlid Flow app. Go to the Settings screen and ﬁnd it under the name of your receiver.
Page 96: Using Qgis As Survey Tool
You can also check the SNR and sky plot in the Sky Plot tab: Note: To survey with ArcGIS Survey123, you will need to sign in with your ArcGIS account. After that, you can create a new survey following these instructions. 5.3 Using QGIS as survey tool 5.3.1 Overview QGIS (previously known as Quantum GIS) is the cross-platform free and open-source desktop...
Page 97: Connecting Qgis To Reach
5.3.2 Connecting QGIS to Reach First of all, we need to connect survey equipment to QGIS. There are two simple ways. One, over local network, or second by USB. Tip: To conﬁgure the connection in QGIS, you might need to enable the GPS Information panel ﬁrst.
Page 98: Usb
In QGIS, the color panel turns green to indicate connection when we enter in the IP address of the rover and the port number. 5.3.4 USB The second way to connect is via "serial device", actually USB. First plug the micro USB into the opening on the rover.
Page 99 Then, plug the other end into the computer usb port. For this, the settings on your rover should be as on the screenshot below.
Page 100 In QGIS, choose to connect by serial device and use the same COM port as is shown in connected devices. Now that we are connected, we should see Reach position in QGIS.
Page 101: Qgis Basics
The GPS panel shows status, but if you want to check for the solution status, it is better to keep an eye on the Emlid Flow app for that. Once we are connected and have our layers and snapping settings ready, we can add points, lines, and polygons, based on our location.
Page 102: Credits
Note: If you use FieldGenius for Android, please refer to the Bluetooth output and Android mock location guide. 5.4.1 Conﬁguring Bluetooth connection 1. Open Emlid Flow and connect to your Reach. 2. Go to Settings and tap Bluetooth. 3. Enable Bluetooth by tapping the Turn on Bluetooth button.
Page 103 5. In Windows, go to Bluetooth settings and select Add a Bluetooth Device. Select Reach from the list of discovered devices and conﬁrm the connection. When pairing is completed you will see Windows device is listed in the Emlid Flow app. Reach device will be listed as a device in Windows.
Page 104: Configuring Emlid Flow
5.4.2 Conﬁguring Emlid Flow After successful Bluetooth pairing you should conﬁgure BT position streaming and correction input if needed. 5.4.3 Position streaming Set up position streaming as follows: 1. Go to Settings and tap Position streaming 1. 2. Choose Bluetooth.
Page 105: Correction Input
5.4.4 Correction input To send the corrections from your controller via Bluetooth, do the following: 1. Go to the Receivers screen and tap Correction input. 2. Choose Bluetooth. 5.4.5 Conﬁguring FieldGenius Creating a new project and instrument proﬁle 1. Launch FieldGenius. It will ask to create a new project. On this step, you can go to Project Settings to conﬁgure units and coordinate system.
Page 106 2. You will see FieldGenius interface. Choose Select Instrument. 3. Choose the GNSS Rover instrument type and add a new instrument proﬁle. 4. Set Reach proﬁle name and click Save.
Page 107: Configuring The Communication Between Fieldgenius And Reach
5.4.6 Conﬁguring the communication between FieldGenius and Reach 1. Pick the Edit option to conﬁgure the receiver parameters. 2. Select Model and Communication.
Page 108 3. Select NMEA from the Make list and Basic Model. Click on Bluetooth Device List. 4. Click Search in Bluetooth Device List. 5. Select Reach device.
Page 109 6. Enter the default PIN Code (it is "123456" for Reach) and press OK. 7. After adding Reach device in Bluetooth Device List, return to Model and Communication settings and click Connect. You will see progress dialog.
Page 110: Configure Fieldgenius To Receive Rtk Corrections From An Ntrip Caster
If the connection is successful, the position will be displayed with a number of satellites and PDOP. 5.4.7 Conﬁgure FieldGenius to receive RTK corrections from an NTRIP caster 1. Go to Instrument Settings.
Page 111 2. Choose Link Conﬁgure. 3. Pick Data Collector internet in Link Device and click Setup.
Page 112 4. In the Dialog window, click Press to Modify. 5. Click Add in NTRIP Casters dialog and enter NTRIP caster details. Press OK. 6. Select the created caster.
Page 113 7. Click OK to ﬁnish the setup. 8. In the Link Conﬁgure dialog, click Connect. 9. Once connected to the internet, request the sourcetable and choose a mountpoint.
Page 114 In a moment you will see the solution status in FieldGenius interface. You can also go to Emlid Flow to check the solution status.
Page 115: Dji Rtk Drone And Reach Rs2/Rs2+ Base Integration
5.5 DJI RTK drone and Reach RS2/RS2+ base integration This guide shows how to set up your Reach RS2/RS2+ as a base for DJI RTK drones like Phantom 4 RTK, Mavic 3E, and Matrice 300 RTK to geotag drone images for further mapping in photogrammet software.
Page 116: Workflow
5.5.2 Workﬂow The text below covers the process of setting up Reach RS2/RS2+ as a base for DJI Phantom 4 RTK drone using Emlid Caster through the internet or the Local NTRIP option in Emlid Flow. Set up Reach RS2/RS2+ as base Reach RS2/RS2+ can send NTRIP corrections via Emlid Caster or using the Local NTRIP option in Emlid Flow.
Page 117: Set Up Reach Rs2/Rs2+ As Base Using Emlid Caster
5.5.3 Set up Reach RS2/RS2+ as base using Emlid Caster To set up your Reach RS2/RS2+ as a base for DJI Phantom 4 RTK using Emlid Caster, you need to get access to Emlid Caster and get NTRIP credentials. Follow the steps below: 1.
Page 118: Set Up Dji Phantom 4 Rtk As Rover
6. Tap the Edit button and insert the NTRIP credentials for the base. Note: To ensure successful corrections transmitting, double-check the credentials you entered. Once you place and set up your base, you can proceed to the drone’s setup. 5.5.4 Set up DJI Phantom 4 RTK as rover To set up your DJI Phantom 4 RTK as a rover, follow the steps below: 1.
Page 119: Perform Flight
Note: Fill in the credentials you obtained when accessing Emlid Caster or enabling the Local NTRIP option in Emlid Flow. Make sure that you use the credentials for the rover. 7. Tap the Connect button. The "Network RTK server connection successful" message will appear.
Page 120: Autel Evo Ii Enterprise And Reach Rs2/Rs2+ Base Integration
Tip: To create a map using Pix4DMapper, check the Creating the map tutorial. 5.6 Autel EVO II Enterprise and Reach RS2/RS2+ base integration This guide shows how to set up Reach RS2/RS2+ as a base for the Autel EVO II Enterprise drone to geotag drone images for further mapping in photogrammetry software.
Page 121: Wokflow
5.6.2 Wokﬂow Set up Reach RS2/RS2+ as base Reach RS2/RS2+ can send NTRIP corrections via Emlid Caster or using the Local NTRIP option in Emlid Flow. The difference is that Emlid Caster requires an internet connection, and Local NTRIP allows you to set up RTK without an internet connection. Select the method depending on your use case and follow the steps below.
Page 122: Set Up Reach Rs2/Rs2+ As Base Using Emlid Caster
5.6.4 Set up Reach RS2/RS2+ as base using Emlid Caster To set up your Reach as a base for Autel EVO II Enterprise using Emlid Caster, you need to get access to Emlid Caster and get NTRIP credentials. Follow the steps below: 1.
Page 123: Set Up Autel Evo Ii Enterprise As Rover
6. Tap the Edit button and insert the NTRIP credentials for the base. Note: To ensure successful corrections transmitting, double-check the credentials you entered. Once you place and set up your base, you can proceed to the drone’s setup. 5.6.5 Set up Autel EVO II Enterprise as rover To set up your Autel EVO II Enterprise as a rover, follow the steps below: 1.
Page 124 2. Connect the controller to your drone. 3. Open the Autel Explorer app. Tap the Camera button. 4. To open the Settings screen, tap the gear icon at the top right corner. 5. Go to the RTK screen. 6. Turn on the RTK Aircraft Feature option. In RTK connection options, choose Custom Network RTK option and ﬁll in the NTRIP credentials.
Page 125 Note: Fill in the credentials you obtained when accessing Emlid Caster or enabling the Local NTRIP option in Emlid Flow. Make sure that you use the credentials for the rover. 7. Tap Login. 8. The login success message will appear if the base is successfully connected. RTK Network...
Page 126: Perform Flight
Note: Step-by-step guide can be also found on senseFly Knowledge Base. 5.7.1 Setting up Reach RS2/RS2+ In this part, we will explain how to conﬁgure Reach RS2/RS2+ to transmit corrections to the PC via Bluetooth. Placing the Reach RS2/RS2+ receiver Tip: To ﬁnd out other ways of placing the local base station, check the Placing the base guide.
Page 127: Pairing With Pc
2. Make sure your Reach RS2/RS2+ is placed precisely above the marked point on the tripod and leveled. 3. If you are setting up base coordinates manually, measure the antenna height offset. Note: Antenna height is measured as the distance between the mark and the antenna reference point (ARP).
Page 128 STEPS FOR CONNECTING VIA HOTSPOT: To learn more, check the Connecting to Reach guide. 2. On the Settings screen, tap GNSS settings. 3. Select GNSS constellations as follows. Note: For working with eBee drones, enable GPS and GLONASS at 1 Hz. 4.
Page 129 7. Go to Settings and tap Bluetooth. 8. Enable Bluetooth by tapping the Turn on Bluetooth button. 9. Tap Discoverability and turn on the Discoverability option. Tap Save to apply changes. 10. Enable Bluetooth on your PC. 11. Open Bluetooth settings. 12.
Page 130 14. Make sure your Reach RS2/RS2+ is discoverable and can be seen in the list of devices. Once you can see Reach RS2/RS2+ in the list, connect to it.
Page 131: Configuring Base Output
If the connection is successful, you will get a message "Your device is ready to go!" Now you can proceed to the next step. 5.7.3 Conﬁguring base output 1. On the Receivers screen in Emlid Flow, tapBase output.
Page 132 2. Choose Bluetooth. 3. Go back to the Receivers screen and tap Base settings. 4. Choose Coordinate entry method. In this guide, we use Average Single. Tip: To learn more, check the Placing the base guide. 5. Fill in Antenna height and then specify Averaging time. 6.
Page 133: Checking Connection
5.7.4 Checking connection You will need to ﬁnd out what COM port on your PC is used by Reach RS2/RS2+. For that, we recommend using the PuTTY client for Windows. 1. Download and install PuTTY. 2. Open Device Manager on your computer.
Page 134 6. Specify the COM port in the Serial line. 7. Choose speed at 9600. 8. Choose the connection type Serial. You can do the same in the Serial tab: 1. Go to the Serial tab. 2. Specify the COM port in the Serial line to connect to. 3.
Page 135: Connecting To Emotion3
Serial line. Now you are ready to conﬁgure the RTK link in eMotion3. 5.7.5 Connecting to eMotion3 Now we will show you how to establish an RTK link with Reach RS2/RS2+ base on your eBee drone. 1. Launch eMotion3.
Page 136 4. Activate your RTK/PPK license in theeBee plus upgrade tab of the Drone’s panel. To activate a license for simulation, tick an Activate update for simulator box. Now you can see the RTK tab enabled on your Mission panel on your left.
Page 137 7. In the opened window, you can specify either a base station, reference points, or a VRS. To conﬁgure the base station, press Add base + in the Base tab. 8. Set Reach RS2/RS2+ to a base name. 9. Set Other to a base manufacturer.
Page 138 12. Set the same baud rate for all connected devices. 13. Press OK. Once you conﬁgured the connection, you can choose the base station in the RTK tab. 14. Press on the chosen base station to see the Set up Local Base window. 15.
Page 139: Sensefly Ppk Guide
17. Go to the Drone’s panel. In the Instruments tab, you can see that the drone provides centimeter-level accuracy and the mode is RTK-ﬁxed. Now you have successfully conﬁgured RTK corrections on your drone from Reach RS2/RS2+. 5.8 senseFly PPK guide In this tutorial, you will ﬁnd the information on how to perform PPK with senseFly drones...
Page 140: Preparing Reach Rs2/Rs2+ Data
5.8.1 Preparing Reach RS2/RS2+ data In this part, we will explain how to place Reach RS2/RS2+ to record logs for PPK. To ﬁnd out other ways of placing the local base station, check the Placing the base guide. The general steps for placing the base receiver are described below.
Page 141: Raw Data Logging
2. Connect to a network named reach:xx:xx. 3. Type the network password emlidreach. 4. Choose Reach RS2/RS2+ from the list of available devices in the Emlid Flow app. 5. On the Settings screen, tap GNSS settings. 6. Select GNSS constellations as follows.
Page 142: Converting Raw Data Log
8. Tap the Setting button. 9. In the Format dropdown menu, choose UBX. Apply changes. Once Reach RS2/RS2+ base starts data logging, you can ﬂy your eBee in a standalone mode. 5.8.3 Converting raw data log 1. Download RTKLIB QT apps.
Page 143: Post-Processing With Emotion
2. Create a project and import the ﬂight logs. Proceed to the RTK/PPK workﬂow tab. 3. Set Input ﬁle format to RINEX. 4. Select newly converted RINEX O, N, and G ﬁles from the Reach RS2/RS2+ base. 5. Set Antenna model to UNKNOWN.
Page 144 10. Once the solution is calculated, the geotags are post-processed based on the RINEX ﬁle with corrected base position. 11. Proceed to the remaining FDM steps to complete the postﬂight process. Now you have successfully post-processed logs from Reach RS2/RS2+ and eBee drone.
Page 145: Specifications
LTE modem with 3G/2G fallback and global coverage. To get the corrections from NTRIP, you can simply insert the GSM SIM card inside Reach RS2 and set it up following the Connecting Reach to internet via built-In modem guide.
Page 146: Electrical Specs
6.4 Electrical specs Antenna reference point (ARP) of Reach RS2/RS2+ is located on the bottom of the receiver. For Reach RS2/RS2+, the distance between the ARP and GNSS antenna is 134 mm. Reach RS2/RS2+ extension connector pinout [PDF, 852 KB] 6.5 Extension cables specs...
Page 147: Troubleshooting
Tip: We recommend updating ﬁrmware every time it is available. Note: You can also subscribe for Beta updates in Emlid Flow. In Settings, go to Firmware updates, tap Beta Updates and enable Beta updates.
Page 148: Update Firmware
• Connecting to the internet via 3. Update the ﬁrmware following the mobile hotspot on-screen instructions. 2. Open Emlid Flow. If the update is available, you will see the notiﬁcation in Settings. 3. Tap the notiﬁcation. 4. Update the ﬁrmware following the on-screen instructions.
Page 149 2. On the Updater screen, tap the Upgrade Reach Firmware button to start the update. 3. Wait until Reach reboots. Keep the Wi-Fi network on. 4. After reboot, wait for the Network LED to turn blue, showing that Reach RS2/RS2+ has joined your network again.
Page 150: Firmware Reflashing
This tutorial shows how to reﬂash Reach RS2/RS2+ ﬁrmware using Reach Firmware Flash Tool. Tip: Most new features are released via the Emlid Flow app and can be updated simply via its interface. You can ﬁnd more information in the Settings overview section.
Page 151: Reach Firmware Flash Tool Installation
2. Follow the instructions to install Reach Firmware Flash Tool on your Mac. 3. Drag the application icon to the Applications folder. 7.2.5 Reﬂash your Reach RS2/RS2+ Reﬂash your Reach following the steps below: 1. Open Reach Firmware Flash Tool and choose Reach RS2/RS2+.
Page 152 2. Connect your Reach in Firmware mode. How to switch your Reach to ﬁrmware mode: Make sure that Reach RS2/RS2+ is turned off and perform the following steps: (a) Press and hold the power button. (b) Plug the USB cable into PC.
Page 153 4. Click Flash. 5. Wait until the end of the ﬂashing process.
Page 154: How To Download Simple System Report
7. Set up your Reach. Tip: You can check the First setup guide to ease setup process. 7.3 How to download Simple system report This guide explains how to download a Simple system report (SSR) in the Emlid Flow app to facilitate Reach troubleshooting.
Page 155: Overview
Now you can send the SSR of your Reach to the Support team at support@emlid.com. 7.4 How to download Full system report This guide explains how to download a Full system report (FSR) in the Emlid Flow app to facilitate Reach troubleshooting in complicated cases.
Page 156: Download Full System Report
4. In the Full report section, tap Generate. 5. Save the report depending on your device. Now you can send the FSR of your Reach to the Support team at support@emlid.com. 7.5 How to ﬁnd serial number This guide explains how to ﬁnd the serial number of your Reach.
Page 157: How To Enable Raw Data Debug Option
2. Copy the serial number of your Reach that appeared on the screen of your mobile device. Now you can send the serial number of your Reach to the Support team at support@emlid.com. 7.6 How to enable raw data debug option Caution: We recommend enabling the option only on the Support team request since the debug data adds extra weight to the logs.
Page 158: Enable Raw Data Debug Option
Now you can send the raw data logs recorded using the raw data debug option to the Support team at support@emlid.com. 7.6.3 How to restore initial settings This guide explains how to restore the initial settings on your Reach RS2/RS2+. 7.6.4 Overview You can restore initial settings on your Reach using the Restore initial settings option in Emlid Flow.
Page 159: Workflow
7.6.5 Workﬂow To restore the initial settings on your receiver, follow the steps below: 1. Connect to your Reach via Emlid Flow. 2. Tap Settings and go to the Troubleshooting section. 3. Tap Restore initial settings.
Page 160 4. Tap the Restore settings button. Once it’s done, you will see that the button becomes gray and its name changes to Done. After that, you can proceed to set up your Reach.
Page 161: Glossary
8 Glossary Absolute positioning Absolute positioning shows your actual global coordinates relative to the Earth’s surface. Absolute positioning is a key to RTK surveys where you need absolute geographical accuracy (e.g, mapping, surveying the borders of the property, etc). In this case, your base absolute position is crucial for high accuracy results.
Page 162 A good DOP value is considered to be below 2. Elevation mask Elevation mask can be conﬁgured in RTK settings in the Emlid Flow app. Satellites lower than set elevation will be excluded from the computation. The default setting is 15 degrees.
Page 163 Fix-and-Hold Fix-and-Hold is a strategy for solving the ambiguities in RTK and PPK. After the ﬁrst ambiguity ﬁx holds them constrained. Fix is more stable but in case ﬁrst initialization was not correct it will take longer to recover and initialize correctly. You can think of it as if Fix had inertia. Full System report A full system report is a tool used to facilitate issues reports.
Page 164 Long Range or LoRa radio is used for Reach receivers to send or receive corrections without an internet connection. Reach RS2/RS2+/RS+ is equipped with internal Lora radio. Reach M2/M+ has external LoRa radio available: you can connect it via S2 port. The radio works only one way: it either sends correction or receives them.
Page 165 3D scanners and are used in photogrammetry and 3D-modeling. Point Collection Point collection is a feature in the Emlid Flow app that allows you to ﬁnd the exact coordinates of the point. The receiver determines the coordinates (x, y, z) of a ground point and records it to your project for further processing .
Page 166 It can be recorded in UBX or directly in industry-standard RINEX format. Emlid Flow Emlid Flow is the mobile app created by Emlid. It is used to control and conﬁgure the Reach receivers, create projects, collect points, etc.
Page 167 You can ﬁnd the SNR indicator on the main screen of the Emlid Flow app. When the SNR of a satellite is over 45, it will be marked green. Grey bars indicate SNR of the base station. The more satellites are in a green zone, the more precise your measurements are and the faster your ambiguity resolution is.
Page 168 Static Positioning Static positioning is one of the positioning modes. It assumes that the Reach rover is static. Constraining the system helps to resolve ambiguities faster as well as produce measurements with higher precision. Transmission Control Protocol or TCP is one of the main internet data transfer protocols designed to control data transfer.

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