Page 1 REACH RS2/RS2+ USER DOCUMENTATION Firmware version 31.8 Emlid Flow app version 10.6 or newer June 5, 2024 ©2024 Emlid Tech Kft...
Page 2: Table Of Contents
1.2.5 Update Reach Firmware ......1.3 Connecting to Reach RS2/RS2+ ......
Page 3 3.3.6 Survey ﬂight ........3.4 Geotagging Photos with Emlid Studio ......
Page 4 5.4.1 Conﬁguring Bluetooth connection ..... . . 141 5.4.2 Conﬁguring Emlid Flow ......143 5.4.3 Conﬁguring FieldGenius .
Page 5 5.12 senseFly RTK guide ........210 5.12.1 Setting up Reach RS2/RS2+ ......211 5.12.2 Connecting to eMotion3 .
Page 6 7 Speciﬁcations 7.1 Reach RS2 Speciﬁcation ....... . . 246 7.1.1 Performance specs .
Page 7: Before You Start
• Installing the Emlid Flow app • Connecting to Reach RS2/RS2+ • Performing ﬁrmware update To do that, you will need Reach RS2/RS2+, a Wi-Fi network with an internet access, and a smartphone or a tablet. 1.2.1 Download Emlid Flow...
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 2. Tap the Set up Reach button to open Updater for further setup process. 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: Led Status
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: 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 17: Single-Band And Multi-Band Receivers
• autonomy in remote areas as there’s no need in the internet connection; • 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).
Page 18: 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 19 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 20: 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 21: 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 22: 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 23: 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 24: Access Reach In Your Wi-Fi Network
• Access Reach in your Wi-Fi network. 2.3.3 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 25: 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 26 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 27: Access Reach In Your Wi-Fi Network
• Access Reach in your Wi-Fi network. 2.4.2 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 28: 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 29: 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 30 Some SIM cards may require ﬁlling in all the ﬁelds in the dropdown menu. Tap Apply. 4. 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 31: 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 32 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 33: 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 34: 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 35: Preparing Ground Control Points For Ppk Uav Mapping
1. When a drone ﬂies at high speeds, the autopilot receives position readings only each several meters. The accuracy of, say, 2 meters is not enough for surveying. 2. Reach M2/M+ solves this by connecting to a camera shutter via hot shoe. The time of each photo is logged with a resolution of less than a microsecond.
Page 36: Workflow
After placing GCPs, you need to collect them. Follow the steps below. Conﬁguring Reach RS2/RS2+ First, you need to conﬁgure your Reach RS2/RS2+ to receive RTK corrections. You can do it in the following ways: • Working with RS2/RS2+ base •...
Page 37: Configuring Reach Uav Kit For Ppk Mapping
3.3 Conﬁguring Reach UAV Kit for PPK Mapping This guide explains how to set up your Reach receivers for PPK mapping with UAV. Tip: We recommend checking the How PPK works article before you start. 3.3.1 Overview To conﬁgure Reach UAV kit for PPK mapping, you will need the following: •...
Page 38 Camera triggering Depending on your application, there are several ways you can trigger a camera. • Triggering via camera. Some cameras provide a Timelapse feature that allows taking a photo at regular intervals. If your camera supports this option, we recommend using it as it is the easiest and straightforward way.
Page 39 ArduPilot, check the Camera control in auto missions guide from ArduPilot for more details. – Triggering camera shutter at regular intervals. Check the Camera shutter conﬁguration guide from ArduPilot to learn more. The majority of Ground Control Station software allows and even requires a mission plan preparation before the ﬂight.
Page 40: Reach Rs3/Rs2/Rs2+/Rs+ Base Setup
You can read more about the signal quality assessment in this section of our docs. Tip: Create a topic on the Emlid community forum in case you experience any diﬃculties at this stage. 3.3.3 Reach RS3/RS2/RS2+/RS+ base setup Check out the ﬁgure below and choose an appropriate location to place Reach RS3/RS2/RS2+...
Page 41: Configuring Base And Rover Before The Flight
1. Power your Reach M2/M+ from an external power source or drone battery. Tip: Check the Power supply guide to learn more. 2. Access Reach M2/M+ in the Emlid Flow. Tip: Check the Connecting to Reach and Connecting Reach to the Internet guides to learn more.
Page 42: Placing Ground Control Points
2. Access the receiver in Emlid Flow. 3. Go to the GNSS settings screen. 4. Choose the same GNSS as for Reach M2/M+ with 1 Hz GNSS update rate. 5. Enable raw data recording on the Logging screen. 3.3.5 Placing Ground Control Points Ground Control Points (GCPs) are points with known coordinates on the ground in the area of your interests.
Page 43: Survey Flight
Note: To learn more about post-processing with our cross-platform desktop application Emlid Studio, check out our documentation. This guide walks you through the process of geotagging of the drone images in Emlid Studio that are used for further mapping in photogrammetry software.
Page 44: Workflow
• Set of images from the drone’s camera • Emlid Flow CSV ﬁle with the coordinates of ground control points The RINEX data will be used to get precise coordinates for the image geotagging. The CSV ﬁle is not needed at this step, but it’s essential for further mapping in photogrammetry software.
Page 45 6. Click Process. You will see the progress bar in the bottom left corner. 7. Once the .pos ﬁle is ready, Emlid Studio will show it on the plot. The _events.pos ﬁle with the precise photos’ positions will be automatically added to the Timestamps ﬁeld...
Page 46: Geotagging
To geotag your photos, follow the steps below: 1. Select the folder that contains the photos from the drone’s camera. Note: Emlid Studio can only geotag photos when the number of timestamps is equal to the number of photos. Tip: If you want to update the original photos with geotags, toggle Update original photos.
Page 47: Creating Map In Pix4Dmapper
If you do not, please check the Geotagging photos with Emlid Studio ﬁrst. At previous steps, we got centimeter-accurate geotags from Reach and georeferenced a set of images using this data in Emlid Studio. Now, we will turn it into a map. 3.5.1 Create the map in Pix4Dmapper Pix4Dmapper is a photogrammetry software for drone mapping by Pix4D.
Page 48 4. Click Next. The Select Images window opens. 5. Click Add images. Browse to the image folder and select the images. They will display in the window. Click Next.
Page 49 6. In Image Geolocation Editor - Coordinate System, click Edit. . . and select WGS 84 and Geoid Height Above WGS 84 Ellipsoid [m] = 0 in Advanced Coordinate Options. 7. In Image Properties Editor - Images Table adjust the Accuracy Horz and Accuracy Vert values to reﬂect the estimated accuracy of image geolocation.
Page 50 processing step and generated outputs. The quality of the reconstruction and the processing time depend on the chosen parameters. If the goal is to generate a DSM and an orthomosaic, the 3D Maps template can be selected. Tip: Digital Surface Model (DSM) is a raster data format with an elevation value for each pixel.
Page 51 4. Choose Sort Images by Distance to GCP in Images section. The images are displayed in order from the closest to the selected GCP to the farthest. 5. Find and mark every point on 3 images at least. Marking instruments are in the Preview window.
Page 52 2. Point Cloud and Mesh: The dense point cloud and 3D triangulated mesh are computed based on the results of the previous step. 3. DSM, Orthomosaic, and Index: The DSM and orthomosaic are generated based on the dense point cloud. To start processing the project: 1.
Page 53 Get results Once the project has been processed, it is possible to analyze and display results directly in Pix4Dmapper or import them in third-party software. To open the folder with the results, on the Menu bar, click Process > Open Results Folder. . . Tip: The Orthomosaic and DSM are stored in the /3_dsm_ortho/2_mosaic/ folder.
Page 54: How To Log Data For Ppk
3.6.2 Recording RINEX logs on Reach To record logs for PPK, perform the following steps both on your base and rover: 1. Open Emlid Flow and connect to your Reach. 2. On the Receivers screen, tap Settings. 3. Go to GNSS settings and set the update rate at 1 Hz for the base and at 5 Hz for the rover.
Page 55 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 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. 10. Leave the Marker name ﬁeld empty. 11. 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: Download Logs
13. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish. 3.6.3 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 58: How To Log Data For Stop & Go With Emlid Flow
Emlid Flow. 3.7.1 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 59 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 60: Download Logs
12. Enable log recording by tapping the Start recording button. Tip: Now you are ready to collect the points. To learn more, check the Collect points guide. 13. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish. 3.7.3 Download logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 61: 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. 3.8 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 62 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 63 7. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 8. Fill in the point’s name in the Marker name ﬁeld. 9. Tap Apply. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 64: Downloading Logs
Note: PPP services requires recording the data for at least 4 hours to get the best accuracy. 11. 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.
Page 65: How To Log Data For Opus
Tip: You can learn more about the NOAA’s OPUS on their oﬃcial site. 3.9.2 Recording RINEX logs on Reach To record logs for OPUS, follow the steps below: 1. Open Emlid Flow and connect to your Reach.
Page 66 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 67 7. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 8. Fill in the point’s name in the Marker name ﬁeld. 9. Tap Apply. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 68: Downloading Logs
11. 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. 3.9.3 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 69 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 70: Base Setup
4 Base Setup 4.1 Choosing base setup method 4.1.1 Overview Real-Time Kinematic (RTK) is a technique that enhances the accuracy of GNSS positioning by using two receivers—a stationary base with known coordinates and a moving rover. The rover measures its position relative to the base. This means that even though measured with the centimeter precision, the coordinates of the rover are only as accurate as the base placement.
Page 71: Positioning
The whole setup then ends with the project setup on your rover which requires specifying a coordinate system that is usually based on the datum of your base. Tip: Learn more about the coordinate system setup in Emlid Flow & Emlid Flow 360 in the Introduction to the coordinate systems article.
Page 72 Emlid Flow. Otherwise, you may end up with a different base position that won’t ﬁt your project and lead to coordinates mismatch.
Page 73: Setting Up Base Position Manually
Studio or online post-processing services such as OPUS, AUSPOS, NRCAN, IBGE. 4.2 Setting up base position manually This guide explains how to use the Manual coordinates entry method in the Emlid Flow app to set up base over a known point.
Page 74 To place your base station in the ﬁeld, follow the recommendations below. Clear sky view without any obstacles Reach base needs to have a clear sky view 30 degrees above the horizon. There should be no obstacles that could block the view like buildings, trees, cars, humans, laptops, etc. Take a look at 2 pictures below.
Page 75 2. Specify the measured distance in Emlid Flow. It will automatically calculate the antenna height. Note: For Reach RS2/RS2+, the antenna height is the distance from the mark on the ground to the center point on the Reach’s bottom (h in Figure 1), antenna reference point (ARP), plus the height of the receiver to the antenna phase center (APC), antenna height offset.
Page 76 2. Go to Base settings of your Reach and tap Conﬁgure. 3. Tap Coordinates entry method and select Manual from the menu.
Page 77 Emlid project by tapping Choose from project. Note: If your known point has local coordinates, add it to your Emlid project and use the point picker option to set it as a base’s coordinates. Emlid Flow will convert this coordinates...
Page 78: Averaging Base Position In Fix
4.3 Averaging base position in FIX This guide explains how to use the Average FIX coordinates entry method in the Emlid Flow app to obtain the coordinates of a known point and set up your base over it.
Page 79: Overview
4.3.1 Overview The Average FIX method allows you to determine the base’s coordinates with absolute centimeter accuracy. In this case, your base acts as a rover which receives the correction data from an NTRIP service via the internet. Tip: You can ﬁnd out how to get corrections from an NTRIP service in the Working with NTRIP service guide.
Page 80 2. Specify the measured distance in Emlid Flow. It will automatically calculate the antenna height. Note: For Reach RS2/RS2+, the antenna height is the distance from the mark on the ground to the center point on the Reach’s bottom (h in Figure ), antenna reference point (ARP), plus the height of the receiver to the antenna phase center (APC), antenna height offset.
Page 81 2. Go to Base settings and tap Conﬁgure. 3. Tap Coordinates entry method and select Average FIX from the menu.
Page 82 4. Tap Antenna height to set the antenna height and save it. 5. Set averaging time and tap Save. After accumulating the data, you will see averaged coordinates in the Base marker section.
Page 83: Applying Base Shift
Now your base’s coordinates are set, and you can continue setting up a project on your rover. 4.4 Applying base shift This guide explains how to apply the base shift in Emlid Flow to calibrate all further collected data in your survey project.
Page 84: Overview
Choosing base setup method articles. 2. Conﬁgure RTK communication between the base and the rover and wait for FIX. Tip: To learn more, check the following guides in the Reach RS2/RS2+ RTK quickstart section. 3. Create a survey project in Emlid Flow.
Page 85 4. Manually add a point with coordinates of your PSM and save it. This will be a known point. Note: You can also do it later on the Base shift screen, tap Add a point and ﬁll in the coordinates of your PSM. 5.
Page 86 6. Swipe up the project drawer and tap Base shift. 7. Tap Measured point. 8. Select the point that you collected. We called it ‘Measured point’. 9. Tap Known point. 10. Select the point with the PSM coordinates. We called it ‘Known point’. After that, the app will calculate the shift.
Page 87: Auspos-Online Gps Processing Service
When the shift is applied, you’ll see that it’s active in the project’s overview, and the rover icon on the map appears shifted. Right from this moment, Emlid Flow starts applying base shift to all the points you collect further. In our case, it means that all points collected after base shift will be positioned exactly relative to the permanent survey mark.
Page 88: Overview
4.5.1 Overview AUSPOS is an online GPS processing service provided by Geoscience Australia. With AUSPOS, you may accurately determine the coordinates of a static point worldwide without real-time corrections or a base station nearby. Tip: You can learn more about the AUSPOS service on their oﬃcial site.
Page 89 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. Tap the Recorded logs and settings button. 4. To conﬁgure logging, tap the Settings button.
Page 90 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 91 10. 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. 11. 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 92 3. Enter the pole height in the Height (m) ﬁeld. 4. Choose EML_REACH_RS2 NONE in the Antenna Type ﬁeld. Note: For Reach RS2+, choose EML_REACH_RS2+ NONE. 5. In the Email Address ﬁeld, enter your email address to get the results.
Page 93 AUSPOS will assign the job number to your submission and send the ﬁle with the solution to your email address. Assessing AUSPOS results In the solution report, you will get the following information: • Computed coordinates in 3 different formats: –...
Page 94: Noaa's Online Positioning User Service (Opus)
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 95: How Opus Works
Tip: Check this map to see if the service is available in your region. Tip: You can learn more about the NOAA’s OPUS on their oﬃcial site. 4.6.2 How OPUS works A standalone receiver ﬁnds its position by relying on the raw data obtained from satellites only.
Page 96: Recording Rinex Logs On Reach
4.6.4 Recording RINEX logs on Reach To record logs for OPUS, follow the steps below: 1. Open Emlid Flow and connect to your Reach. 2. Go to the Logging screen. 3. Tap the Recorded logs and settings button. 4. To conﬁgure logging, tap the Settings button.
Page 97 Note: 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 98 10. Enable log recording by tapping the Start recording button. The red recording icon will appear in the status bar. Note: NOAA’s OPUS requires recording the data for at least 4 hours to get the best accuracy. 11. To ﬁnish recording logs, tap the End recording button. Caution: Wait for data processing to ﬁnish.
Page 99: 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. 4.6.5 Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 100: 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 101: 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 102 may calculate its position with a several-meter level accuracy. If there were no navigation data, the accuracy would be much worse. In RTK and PPK, these offsets might be eliminated since both the base and the rover operate in quite similar conditions. Compared with these two methods, PPP allows the single receiver to achieve a high-level accuracy without the use of corrections from the base station.
Page 103: Ppp Services Overview
4.7.2 PPP services overview There are several PPP services available: • Brazilian IBGE-PPP service, mainly used in South America region, is capable of working with both single-band and multi-band Reach receivers. • Canadian NRCan CSRS-PPP service can process both single-frequency and multi-frequency logs.
Page 104: Workflow
Reach in the Choosing base setup method tutorial. Recording RINEX logs on Reach To record logs for NRCan CSRS-PPP, perform the following steps: 1. Open Emlid Flow and connect to your Reach. 2. Go to the Logging screen.
Page 105 Top: 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 106 7. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld. 8. Fill in the point’s name in the Marker name ﬁeld. 9. Tap Apply. Tip: You can start recording automatically when your receiver is turned on. Check the corresponding ﬁeld on the Raw data settings screen.
Page 107 Note: NRCan CSRS-PPP requires recording the data for at least 4 hours to get the best accuracy. 11. 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.
Page 108 1. Go to the Recorded 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. 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.
Page 109 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 110: Ibge-Ppp-Online Service For Post-Processing Gnss Data
5. Specify the antenna height and enter the coordinates. 6. Tap Save. After setting up the base position, you can continue working in RTK or PPK. 4.9 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.
Page 111: Workflow
Reach in the Choosing base setup method tutorial. Recording RINEX logs on Reach To record logs for IBGE-PPP, perform the following steps: 1. Open Emlid Flow and connect to your Reach. 2. Go to the Logging screen.
Page 112 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. 6. Tap Show conﬁguration and enter the measured height to the bottom of the receiver in the corresponding ﬁeld.
Page 113 7. Fill in the point’s name in the Marker name ﬁeld. 8. Tap Apply. 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. The red recording icon will appear in the status bar.
Page 114 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. Downloading logs After you ﬁnish raw data logging, you need to download RINEX data from Reach to your mobile device.
Page 115 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 116: Static Processing
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. Enter the coordinates and specify the antenna height.
Page 117: Workflow
To post-process the collected data, follow the steps below: Tip: Emlid Studio selects the One best solution by default. To double-check it, click the blue gear and you will access the settings. There, ﬁnd the Output solution ﬁeld and make sure that One best is chosen.
Page 118 Note: If you use antenna height for your static receiver, you need to ﬁll in the same antenna height in the base ﬁeld when continuing post-processing your survey data using the Kinematic processing, Drone Data PPK, Stop & Go with Emlid Flow workﬂows. This will ensure data consistency.
Page 119 7. Once the processing is ﬁnished, Emlid Studio will show you the processed point on the plot. Tip: To check the local point’s coordinates, just click on it on the plot. Note: You can also ﬁnd the coordinates of your local base in the generated .pos ﬁle. Click the Show result ﬁles button to move to the resulting folder.
Page 120: Averaging Base Position In Single
4.11 Averaging base position in SINGLE This guide explains how to use the Average SINGLE entry method in the Emlid Flow app to set up base position. 4.11.1 Overview When you don’t know your base’s position, you can average it in SINGLE using the Average SINGLE coordinates entry method in Emlid Flow.
Page 121 2. Specify the measured distance in Emlid Flow. It will automatically calculate the antenna height. Tip: For Reach RS2/RS2+, the antenna height is the distance from the mark on the ground to the center point on the Reach’s bottom, antenna reference point (ARP), plus the height of the receiver to the antenna phase center (APC), antenna height offset.
Page 122 1. Open Emlid Flow and connect to your Reach. 2. Go to Base settings and tap Conﬁgure. 3. Tap Coordinates entry method and choose Average SINGLE from the menu.
Page 123 4. Tap Antenna height to set the antenna height and save it. 5. Set averaging time, tap Save. Now, when your base coordinates are averaged, you can continue creating up a project on your rover. Tip: You can save these coordinates and use them later within the same project. Without knowing them, you won’t be able to reproduce this project.
Page 124: Integration
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 125: 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 126: 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 127: 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 128 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 129 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 130: Arcgis Survey123 Integration
Note: Tapping the Disconnect button in the Lefebure NTRIP Client will revert back to the Android built-in GNSS. 5.2 ArcGIS Survey123 integration This tutorial provides step-by-step instructions on how to perform integration of Reach Reach RS2/RS2+ with ArcGIS Survey123 via TCP using an iOS or Android device to create, share and analyse surveys.
Page 131: What Is Arcgis Survey123
• 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 132 Conﬁguring settings in ArcGIS Survey123 1. Open the ArcGIS Survey123 app. 2. Tap the GNSS location icon. 3. Tap the Settings icon.
Page 133 4. Tap Add location provider. 5. Choose the Network connection type.
Page 134 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 135: 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 136: 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 137 In QGIS, the color panel turns green to indicate connection when we enter in the IP address of the rover and the port number. The second way to connect is via "serial device", actually USB. First plug the micro USB into the opening on the rover.
Page 138 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 139 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 140: 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 141: 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 142 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 143: Configuring Emlid Flow
5.4.2 Conﬁguring Emlid Flow After successful Bluetooth pairing you should conﬁgure BT position streaming and correction input if needed. Position streaming Set up position streaming as follows: 1. Go to Settings and tap Position streaming 1. 2. Choose Bluetooth. 3. To conﬁgure position streaming, tap the Edit button in the Bluetooth cell.
Page 144: Configuring Fieldgenius
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. 5.4.3 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 145 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 146 Conﬁguring the communication between FieldGenius and Reach 1. Pick the Edit option to conﬁgure the receiver parameters. 2. Select Model and Communication.
Page 147 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 148 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 149 If the connection is successful, the position will be displayed with a number of satellites and PDOP. Conﬁgure FieldGenius to receive RTK corrections from an NTRIP caster 1. Go to Instrument Settings.
Page 150 2. Choose Link Conﬁgure. 3. Pick Data Collector internet in Link Device and click Setup. 4. In the Dialog window, click Press to Modify.
Page 151 5. Click Add in NTRIP Casters dialog and enter NTRIP caster details. Press OK. 6. Select the created caster. 7. Click OK to ﬁnish the setup.
Page 152 8. In the Link Conﬁgure dialog, click Connect. 9. Once connected to the internet, request the sourcetable and choose a mountpoint.
Page 153: 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 photogrammetry software.
Page 154: Overview
Local NTRIP option in Emlid Flow without connection to the internet. To set up your Reach RS2/RS2+ as a base for DJI RTK drone, you will need the following: • DJI RTK drone with GS RTK as a rover •...
Page 155 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 156 3. Open Emlid Flow and connect to your receiver. 4. Connect your Reach to the internet. 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 157 6. In RTK Service Type, choose Custom network RTK and ﬁll in the NTRIP credentials form. 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.
Page 158: Perform Flight
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 159: Overview
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 160 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 161 3. Open Emlid Flow and connect to your receiver. 4. Connect your Reach to the internet. 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 162 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. 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 163 Custom Network RTK option and ﬁll in the NTRIP credentials. 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.
Page 164: Perform Flight
8. The login success message will appear if the base is successfully connected. RTK Network Status should change to the Connection successful state. 5.6.3 Perform Flight When you set up communication between your Reach and a drone, you can perform the ﬂight.
Page 165: Using Reach Rs2/Rs2+ Base Station For Yellowscan Lidar Systems
5.7 Using Reach RS2/RS2+ base station for YellowScan LiDAR systems This guide explains how to record a raw data log on your Reach RS2/RS2+ used as a base station for the YellowScan LiDAR systems for drone mapping and prepare it to get the corrected trajectory SBET ﬁle for further processing in the CloudStation software.
Page 166 4. Upload your log to Emlid Studio, and tap on the blue gear button to access the processing settings. 5. In the Logs duration section, set the time 2 minutes after log recording starts to trim the log. Tap Save, and then Convert.
Page 167: Integration Of Reach Rs2/R2+ With Mergin Maps For Android
Note: To start receiving corrections, make sure that your receiver has satellite visibility. Setting up position streaming from Reach RS2/RS2+ To stream your Reach RS2/RS2+ position in the NMEA format to the Android device, proceed as follows: 1. Open Emlid Flow and connect to your Reach.
Page 168 2. Go to Settings and tap Position streaming 1. 3. Select Bluetooth.
Page 169 4. To conﬁgure position streaming, tap the Edit button in the Bluetooth cell. 5. Tap Format and choose NMEA. Save changes. Enabling Reach RS2/RS2+ discoverability To make your Reach RS2/RS2+ discoverable via Bluetooth, follow these steps: 1. Connect to your Reach RS2/RS2+ using Emlid Flow.
Page 170 2. Go to Settings and tap Bluetooth. 3. Enable Bluetooth by tapping the Turn on Bluetooth button.
Page 171 4. Tap Discoverability and turn it on. Tap Save to apply changes. Pairing Reach with Android device To pair your Reach RS2/RS2+ with the Android device, do the following: 1. Navigate to the Bluetooth conﬁguration screen on your Android device and enable Bluetooth.
Page 172 4. Pair Reach with the Android device. Conﬁguring communication between Mergin Maps and Reach RS2+ 1. Open the Mergin Maps app and create an account if you don’t have it yet to access the app. 2. Open or create a new project.
Page 173 5. Tap Connect new receivers. 6. Choose your GPS receiver from the list of Bluetooth devices and wait until it’s connected.
Page 174 7. Go back to Settings and set the antenna height. For Reach RS2/RS2+, the antenna height is the distance from the mark on the ground to the center point on the Reach’s bottom, antenna reference point (ARP), plus the height of the receiver to the antenna phase center (APC), antenna height offset.
Page 175: Integration Of Reach Rs2/Rs2+ With Aplitop Tcpgps For Android
5.9 Integration of Reach RS2/RS2+ with Aplitop TcpGPS for Android This tutorial shows how to integrate your Reach RS2/RS2+ with the TcpGPS app for Android devices over Bluetooth to collect and stake out data in the ﬁeld in RTK mode.
Page 176: Workflow
Conﬁguring Reach RS2/RS2+ settings in Emlid Flow First you need to conﬁgure correction input, enable tilt compensation, and set up position streaming in the NMEA format on your Reach RS2/RS2+ in the Emlid Flow app. Follow the steps below: 1. Open the Emlid Flow app and connect to your Reach using Wi-Fi.
Page 177 3. Go back, In Settings aselect Position Streaming 1.
Page 178 4. Select Bluetooth and tap the Edit button.
Page 179 5. Select NMEA as format. 6. Tap NMEA settings. Select GGA, GSA, GST and EBP messages with 5Hz frequency and GSV message with 0.5Hz frequency. Then, tap the Apply button.
Page 180 Conﬁguring communication between Aplitop TcpGPS and Reach RS2/RS2+ Note: Make sure Bluetooth is enabled on your Android device. 1. Open the Aplitop TcpGPS app and tap the receiver icon next to Device type. 2. On the opened screen, select the following: •...
Page 181 3. Tap the Receiver button and select the Bluetooth device. If the receiver is not on the list, tap the Search button. 4. Tap the Connect button and wait for the conﬁguration of Reach.
Page 182 5. Tap the forward arrow button and on the opened Working mode screen, tap the Rover button. 6. Conﬁgure NTRIP to send RTK corrections over Bluetooth.
Page 183 7. To set up the NTRIP server, tap the three dots button and specify the following parameters: • Name of the proﬁle • IP • Port • User name • Password • Mountpoint...
Page 184 After that, tap the OK button. 8. Tap the Connect button and check that the number of bytes sent and received grows. 9. Tap the forward arrow button and select or create a project.
Page 185 10. Tap the survey button, enter the antenna height on the right side of the status bar, and start working with TcpGPS for Android and the Reach RS2/RS2+.
Page 186: Processing Of Project From Emlid Flow In Tcpmdt
ZWCAD® and provides tools for creating digital terrain models, proﬁles, volume calculations, roads, etc. To integrate Emlid Flow data with the Aplitop TcpMDT application, you’ll need the following: • Emlid Flow v9.2+ • AutoCAD® v2007+, BricsCAD® Pro v16+, GStarCAD® Professional v2021+, or ZWCAD Professional®...
Page 187 4. Press the Conﬁguration button and choose the PENZD option (Point Number, East, North, Z, Description). Also leave the Convert code suﬃxes checked. Click OK. 5. Choose a suitable scale for the representation of texts and uncheck the Draw from Codes option.
Page 188 6. Click OK and choose the CSV ﬁle exported from Emlid Flow. 7. The points will be drawn with their numbering and elevations.
Page 189 8. Run MDT9 > Points > List and make sure that the points in the ﬁle have been imported. 9. Press the All button and check that the point codes have been converted correctly. The ones with point geometry, e.g., TREE, appear as is, and the ones with the linear geometry are completed with the suﬃxes "S"...
Page 190 Drawing break lines and blocks (Optional) TcpMDT can generate the digital terrain model more accurately by drawing changes in the terrain slope, known as break lines. These can be drawn as polylines on different layers with CAD tools, or automatically generated if the points have been coded on the site. Blocks can also be automatically inserted from the codes, e.g.
Page 191 3. Press OK twice. 4. Run MDT9 > Points > Codes > Draw from Codes. 5. Keep the default options and click OK.
Page 192 Creating digital terrain model 1. Run MDT9 > Surfaces > Create Surface and accept the proposed ﬁle name. 2. In the dialog, check that within Elements to Triangulate there are the Points and Break Lines elements. Tap the Layers button. 3.
Page 193 4. Click OK again to generate and draw the triangulation. Generating contour lines 1. Run MDT9 > Contour Lines/Mapping > Create Contour Lines. 2. Set the intervals between minor and major contour lines.
Page 194 3. Click OK to generate the contour lines. Creating alignment 1. Run Draw > Polyline and draw an alignment that we’ll use to create proﬁles.
Page 195 2. Run MDT9 > Horizontal Alignments > Convert Polyline to Alignment and select the previous polyline. 3. Enable the Annotate Alignment option and click OK two times.
Page 196 Creating proﬁles 1. Run MDT9 > Long Sections > Create Long Section and select the alignment created in the previous step. 2. In the dialog, leave all options by default and press OK. 3. Choose the appropriate values for Horizontal Scale and Vertical Scale. In the Vertices to Represent frame, choose Constant and set an interval.
Page 197 4. Click OK to draw the longitudinal proﬁle in model space and choose an insertion point in a clear area of model space. 5. Run MDT9 > Cross Sections > Create Cross Sections and select the alignment again. 6. In the dialog, set the left and right proﬁle lengths and the interval between sections and press OK.
Page 198: Processing Of Project From Tcpgps In Tcpmdt
7. In the dialog, chose Paper Space and set the horizontal scale, vertical scale, and paper size. 8. Click OK to proceed with the drawing. 5.11 Processing of project from TcpGPS in TcpMDT This tutorial shows how to create a digital terrain model (DTM), contour lines and proﬁles in TcpMDT using a topographic survey imported from TcpGPS.
Page 199: Summary
ZWCAD® and provides tools for creating digital terrain models, proﬁles, volume calculations, roads, etc. To integrate Emlid Flow data with the Aplitop TcpMDT application, you’ll need the following: • TcpGPS for Android 2.7+ • AutoCAD® v2007+, BricsCAD® Pro v16+, GStarCAD® Professional v2021+, or ZWCAD Professional®...
Page 200 5. Click OK and choose the PUN ﬁle previously exported from TcpGPS in MDT format. 6. The points will be drawn with their numbering and elevations.
Page 201 7. Run MDT9 > Points > List and make sure that the points in the ﬁle have been imported. 8. Press the All button and check that the point codes have been converted correctly. The ones with point geometry, e.g., TREE, appear as is, and the ones with the linear geometry are completed with the suﬃxes "S"...
Page 202 Drawing break lines and blocks (Optional) TcpMDT can generate the digital terrain model more accurately by drawing changes in the terrain slope, known as break lines. These can be drawn as polylines on different layers with CAD tools, or automatically generated if the points have been coded on the site. Blocks can also be automatically inserted from the codes, e.g.
Page 203 3. Press OK twice. 4. Run MDT9 > Points > Codes > Draw from Codes. 5. Keep the default options and click OK.
Page 204 Creating digital terrain model 1. Run MDT9 > Surfaces > Create Surface and accept the proposed ﬁle name. 2. In the dialog, check that within Elements to Triangulate there are the Points and Break Lines elements. Tap the Layers button. 3.
Page 205 4. Click OK again to generate and draw the triangulation. Generating contour lines 1. Run MDT9 > Contour Lines/Mapping > Create Contour Lines. 2. Set the intervals between minor and major contour lines.
Page 206 3. Click OK to generate the contour lines. Creating alignment 1. Run the Draw > Polyline CAD command and draw an alignment that we’ll use to create proﬁles.
Page 207 2. Run MDT9 > Horizontal Alignments > Convert Polyline to Alignment and select the previous polyline. 3. Enable the Annotate Alignment option and click OK two times.
Page 208 Creating proﬁles 1. Run MDT9 > Long Sections > Create Long Section and select the alignment created in the previous step. 2. In the dialog, leave all options by default and press OK. 3. Choose the appropriate values for Horizontal Scale and Vertical Scale. In the Vertices to Represent frame, choose Constant and set an interval.
Page 209 4. Click OK to draw the longitudinal proﬁle in model space and choose an insertion point in a clear area of model space. 5. Run MDT9 > Cross Sections > Create Cross Sections and select the alignment again. 6. In the dialog, set the left and right proﬁle lengths and the interval between sections and press OK.
Page 210: Sensefly Rtk Guide
8. Click OK to proceed with the drawing. 5.12 senseFly RTK guide In this tutorial, you will ﬁnd the information on how to survey in RTK with senseFly drones and Reach RS2/RS2+. Note: Step-by-step guide can be also found on senseFly Knowledge...
Page 211: Setting Up Reach Rs2/Rs2
5.12.1 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 212 If you require relative centimeter-level accuracy, you can average base position. Pairing with PC 1. Open Emlid Flow and connect to your Reach. Steps for connecting via hotspot: To learn more, check the Connecting to Reach guide. 2. On the Settings screen, tap GNSS settings.
Page 213 5. Tap the Settings button. 6. In the Format dropdown menu, choose UBX. Apply changes and close the Logging screen. 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.
Page 214 12. Click on Add Bluetooth or other device. 13. Choose the Bluetooth option in the Add a device window. 14. Make sure your Reach RS2/RS2+ is discoverable and can be seen in the list of devices.
Page 215 Once you can see Reach RS2/RS2+ in the list, connect to it. If the connection is successful, you will get a message "Your device is ready to go!"...
Page 216 Now you can proceed to the next step. Conﬁguring base output 1. On the Receivers screen in Emlid Flow, tapBase output. 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.
Page 217 6. Tap RTCM3 messages and specify transmitted RTCM3 messages.
Page 218 Checking connection You will need to ﬁnd out what COM port on your PC is used by Reach RS2/RS2+. For that, recommend using the PuTTY client for Windows. 1. Download and install PuTTY. 2. Open Device Manager on your computer.
Page 219 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 220: Connecting To Emotion3
Serial line. Now you are ready to conﬁgure the RTK link in eMotion3. 5.12.2 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 221 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 222 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 223 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 224: 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+. 5.13 senseFly PPK guide In this tutorial, you will ﬁnd the information on how to perform PPK with senseFly drones...
Page 225: Preparing Reach Rs2/Rs2+ Data
5.13.1 Preparing Reach RS2/RS2+ data In this part, we will explain how to place Reach RS2/RS2+ to record logs for PPK. Note: To ﬁnd out other ways of placing the local base station, check the PBase setup guide. The general steps for placing the base receiver are described below.
Page 226 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 227 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. Converting raw data log 1. Download RTKLIB QT apps.
Page 228: Post-Processing With Emotion
8. Add your rover raw log in the ﬁrst ﬁeld and choose an output directory. 9. Choose format of your log in the pop-down menu. Set format to u-blox. 10. Press Convert. Now you can proceed to post-processing your logs in eMotion3. 5.13.2 Post-processing with eMotion 1.
Page 229 4. Select newly converted RINEX O, N, and G ﬁles from the Reach RS2/RS2+ base. 5. Set Antenna model to UNKNOWN. 6. Fill the base position ﬁeld with the known coordinates of the marked ground point (ground marker). 7. Set Height Reference to Ground marker.
Page 230: 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 231: 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 232 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 233: Firmware Reflashing
This will delete all the data on your unit. 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.
Page 234: 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. 6.2.5 Reﬂash your Reach RS2/RS2+ Reﬂash your Reach following the steps below: 1. Open Reach Firmware Flash Tool and choose Reach RS2/RS2+.
Page 235 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 236 4. Click Flash. 5. Wait until the end of the ﬂashing process.
Page 237: How To Download Simple System Report
7. Set up your Reach. Tip: You can check the First setup guide to ease setup process. 6.3 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 238: Overview
Now you can send the SSR of your Reach to the Support team at support@emlid.com. 6.4 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 239: 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. 6.5 How to ﬁnd serial number This guide explains how to ﬁnd the serial number of your Reach.
Page 240: 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. 6.6 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 241: 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. 6.7 How to restore initial settings This guide explains how to restore the initial settings on your Reach RS2/RS2+. 6.7.1 Overview You can restore initial settings on your Reach using the Restore initial settings option in Emlid Flow.
Page 242: Workflow
6.7.2 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 243: How To Access Reach Panel From A Web Browser
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. 6.8 How to access Reach panel from a web browser This guide explains how to access Reach Panel in a web browser to work with the Reach device.
Page 244: Overview
2. Find your Reach in the list of available devices and connect to it. If there is only one available device, Emlid Flow will automatically connect to it. 3. Find an IP address under the name of your Reach. Type this IP address in the address bar of your browser to open Reach Panel.
Page 245 You are now ready to work with your Reach in the Reach Panel web interface.
Page 246: Specifications
RS2+: Reach RS2+ has a built-in 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 247: Mechanical Specs
You just need to enable the Position streaming option in Emlid Flow. USB-C port Reach RS2/RS2+ receiver can be charged via a USB-C cable connected to the power bank or USB adapter. To establish RTK communication with third-party devices, you can connect external radio via USB-C port.
Page 248: Serial Number
7.1.6 Serial Number Scan the QR code under the SIM card slot cover to see serial number of your Reach RS2/RS2+.
Page 249: Glossary
8 Glossary 2D Grid distance 2D Grid distance between points A and B is the length of the straight line AB on a ﬂat plane. 2D Ground distance 2D Ground distance between points A and B is the length of the shortest AB line on the surface of the ellipsoid.
Page 250 This is the part of the rover’s settings that is responsible for conﬁguring the acceptance of the corrections. Using the correction input conﬁguration in the Emlid Flow app, you can choose the way your rover receives the corrections: via Serial, TCP, NTRIP, Bluetooth, or LoRa.
Page 251 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. One of the formats for Position Streaming available for Reach devices. Simple text protocol for East, North and UP components of the baseline as well as solution status.
Page 252 Galileo Galileo is a European satellite navigation system. It ﬁrst started operating in 2011 and now has global coverage. Global datum Global datum is an ellipsoidal coordinate reference system that is used by the receiver to measure coordinates before any transformations are applied. Grade Grade of a line is the measure of its steepness, with larger values standing for steeper slopes and 0 procent indicating a horizontal line.
Page 253 Ground distance Ground distance is the distance measured on the actual surface of the Earth, taking the mean elevation of the measured points into account. Ground Control Point or GCP Ground Control Point is a point on a surface with known coordinates. The GCPs are actively used in aerial mapping and photogrammetry.
Page 254 Geographic Information System or GIS is a system for collecting, storing, analyzing, and graphically visualizing spatial data and related information about required objects. GLONASS GLONASS is a global satellite navigation system. It was created as an alternative to GPS in Soviet Union and ﬁrst launched in 1982.
Page 255 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...
Page 256 Point Stakeout Point stakeout is a feature in the Emlid Flow app that allows ﬁnding points with known coordinates on the site. Pole Height When preparing for point collection, conﬁgure the height of your survey pole in Emlid Flow. It will help the app to automatically calculate the antenna height.
Page 257 RTKLIB is an open-source program package for standard and precise positioning with GNSS. It is used for PPK data processing. Works with signals from GPS, GLONASS, Galileo, QZSS, BeiDou, and SBAS. Emlid produces the version of RTKLib tailored for Reach products. RTKPLOT RTKPLOT is a tool in RTKLIB that allows viewing and plotting the position solutions from RTKPOST as well as observation data from RTKCONV.
Page 258 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 259 Time mark The time mark function veriﬁes the exact moment when the camera takes a photo. After the ﬂight, you can process the raw logs from the base and a rover to get an «*_events.pos» ﬁle. This ﬁle includes information about the time and coordinates of each photo. You can use geotagging software to write this information to the photos’...

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