ImpulseRadar PinpointR User manual

ImpulseRadar
PinpointR User Manual V1.0
PinpoinR Ue manal
PinPointR

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PinpointR User Manual V1.0
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Content
About this manual ................................................................................................................................... 3
Overview.................................................................................................................................................. 3
Antenna ................................................................................................................................................... 4
Connector panel .................................................................................................................................. 5
Battery ................................................................................................................................................. 5
Cart ...................................................................................................................................................... 6
Odometer encoder .......................................................................................................................... 7
GPS mounts ......................................................................................................................................... 8
Overview.................................................................................................................................................. 9
IPR App installation ................................................................................................................................. 9
Security note ....................................................................................................................................... 9
Using the IPR App .................................................................................................................................. 10
Switch between different antennas .................................................................................................. 10
Settings .............................................................................................................................................. 10
GPS-symbols and function ............................................................................................................. 12
Wheels ........................................................................................................................................... 13
Data viewing and adjustment ........................................................................................................... 13
Restoring missed traces .................................................................................................................... 15
Projects .............................................................................................................................................. 15
Multi-line project ........................................................................................................................... 16
GPS-projects .................................................................................................................................. 21
Viewing files ...................................................................................................................................... 21
Note on survey speed and settings ................................................................................................... 22
Note on Wi-Fi communication disturbances ..................................................................................... 22
Appendix A, Specifications .................................................................................................................... 23
Appendix B, File-formats ....................................................................................................................... 24
Appendix C, GPS .................................................................................................................................... 28
Appendix D, Regulatory notices ............................................................................................................ 29

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About this manual
ImpulseRadar PinpointR system uses an antenna that is a self-contained Ultra-Wide Band (UWB)
Ground Penetrating Radar (GPR) system. The dual frequencies and mechanical design combined with
the various accessories like the GPS mounting kit make the system suitable for different kind of locating
and mapping applications.
For information on other applications and/or configurations, please contact your local ImpulseRadar
representative, or contact our sales team at: [e-mail]
This manual is structured as follows:
Section 1  Hardware antennas and accessories
Section 2  Software data acquisition and control
Section 3  Appendices additional notes and technical information
We welcome your feedback in relation to this manual and its content. Please send your comments or
suggestions to us at: [email protected]
Hadae
Overview
The PinpointR system and its dual-channel antenna electronic design is based on a modern real-time
sampling (RTS) technology platform, offering state-of-the-art data acquisition capabilities. The
PinpontR antenna incorporates two separate GPR-channels, operating at high speed as well as an in-
built GPS.
Antenna Abbreviation Centre Frequency
PinpointR PPR4080 400 MHz and 800 MHz
The PinpointR system includes a push-cart and the PinPointR antenna with a range of accessories
shown in Figure 1 below.

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Figure 1 System overview
Data collection is managed over an Ethernet WiFi link and a suitable Android device/PC running the
Impulseradar App (IPR-App). With the IPR-App, the operator may collect single line data, albeit with
two frequencies, or a few different types of multi-line projects. Whether a single line of project-based
data has been collected, data-sets may be directly imported into the CrossPoint Windows software for
processing and evaluation.
For information on other applications and/or configurations, please contact your local ImpulseRadar
representative, or contact our sales team at: [email protected]
Antenna
The PinpointR antenna has a field-rugged design equipped with both a low and high frequency channel,
making it possible to detect shallow and deep utilities. Power supply via a removeable and

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rechargeable li-ion battery easy to exchange on the top of the antenna. The connectors and On/off
button, as shown below in Figure 2.
The PinpointR antenna also includes and a high-quality differential GPS receiver (Ublox/Tallysman).
There is no external connection to these components, although markings on the housing showing their
approximate internal location.
Figure 2 PinpointR antenna with battery attached
Connector panel
Refer to the arrangement shown in Figure 2:
Silver  On/Off button. Press the button once for approx. 2s to switch the antenna on. When
on, the button glows blue. A subsequent press will switch the antenna off.
Blue  External GPS. Allows the connection of an external GPS antenna to provide higher
precision positioning. Communication is based on RS232 and the NMEA 0183, V2, protocol.
Black  Measuring wheel. Note, this connector is placed further back on the lower frequencies.
All cable-connectors are high-quality Yamaishi-type. Cable-connectors are inserted/removed by
holding the connector sleeve then gently pushing or pulling straight without turning. The connectors
are keed o ha i no poible o damage he ni b attaching a cable to the wrong connector.
Battery
The PinpointR antenna is powered via a removable and rechargeable li-ion battery, which is a nominal
8.7Ah/96.57Wh, providing approximately 7-hours of continuous operation.
Note: ImpulseRadar Li-ion batteries are approved according to UN38.3 and can, therefore, be safely
carried/shipped by air.
The battery fits securely to the top of the antenna. To insert, position it on the mounting plate and
slide it gently into place, until you hear the locking pin engage (click). To remove, pull the locking pin
out, then gently slide the battery out and off from the mounting plate, Refer to the images in Figure 3
below.

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Figure 3 Mounting the battery
Cart
The PinPointR Cart has a foldable handle assembly, as shown below in Figure 4. The push-cart allows
the antenna to be maneuvered easily over a range of surfaces.
Figure 4 PinpointR Cart (foldable)
The Cart incorporates a break on the rear-right wheel, easily engaged by your foot.
When not in use, the handle mechanism can be folded by removing the M5 retaining screw, as shown
in Figure 4 above. This reduces the overall physical size to facilitate transportation and/or storage.

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The antenna is mounted into a tray that is connected to the cart-hood by adjustable support straps.
This allows the antenna to be positioned on, or very close, to the ground surface. This arrangement,
as shown in Figure 5 below, allo he anenna o floa freel vertically and follow the contour of the
ground, or move over bumps and other small obstacles.
Figure 5 Antenna fitting and height adjustments
Antenna fitting procedure, as referenced in Figure 5 above:
1. Remove the two rear straps from the snap connectors
2. Lift the cart-hood and slide the antenna into the support tray
3. Connect the antenna to the tray with M5 Screws on both sides
4. Close the cart-hood and refit the rear straps into the snap connectors
5. Connect the odometer cable (black connector)
6. Adjust the front and rear straps to obtain the desired height
7. When needed, the battery may be fitted/removed through the opening in the cart-hood
Note: when removing the antenna, remember to disconnect the odometer cable prior to lifting the cart-
hood.
Odometer encoder
To measure distance, the push-cart incorporates an odometer encoder that links to the antenna via
the odometer cable and connector. The encoder itself is connected to the right-rear wheel by means
of a rubber O-ring. If needed, this O-ring can easily be removed and replaced by first removing the
wheel by unscrewing the M6 retaining screw (as shown in Figure 6 below).
Note: when refitting the wheel, use blue Loctite or equivalent to help secure the M6 retaining screw.

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Figure 6 Odometer encoder and wheel assembly
GPS mounts
An optional GPS mounting accessory is available for the push-cart, as shown below in Figure 7.
Figure 7 GPS-mounts on the Cart

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PinpointR User Manual V1.0
Sofae
Overview
The PinpointR is set-up and controlled wirelessly via the IPR App once installed on a suitable Android
device. Refer to Appendix A for a list of specification requirements. Note that an adapter may be
needed.
Android devices that meet or exceed the minimum specification requirements will generally offer
better performance in terms of data recovery and on-screen functionality. That said, low-end Android-
based smartphones can offer a quick and simple means of collecting radar profiles.
Since Android devices are not as standardized as PC, there may be slight variations in the way
software is installed and operated between different devices. The following section will detail various
screenshots and menus as taken from a recommended device. However, this may be slightly different
from your personal device.
IPR App installation
Security note
As part of the Android operating system, there is a security restriction that prevents the installation of
applications from outside the Google Play Store. Since the IPR App is not yet available on the Google
Play Store, you will need to make some adjustments to your device system settings to proceed with
the installation, as follows:
1. Navigate to Settings > Personal > Lock screen and security
2. Check the option "Unknown sources"
3. At the message prompt, select OK
You may now proceed with the installation of the IPR App.
The IPR App software is supplied on a USB thumb drive and can either be installed directly from this
device or by copying it to the internal memory of your Android device. Whichever method you chose,
the installation process is as follows:
1. Locate the file <IPR-X.XXX.apk>¹ and start it to initiate the installation
2. The recommended file system for this App is "ES File Explorer"
3. When prompted, allow permission for the PinpointR App to access photos, media, and files on
your device, so that radargrams can be saved and opened. Also, allow permission for the
PinpointR App to access your device location. This permission allows the app to manage Wi-fi
and Bluetooth communication, which is necessary for the app to be able to connect properly
to the PinpointR antenna. The App will keep asking for the permissions until all the permissions
asked for are granted. If you deny the permission and the same time checks neer ak again,
you will be directed to the Android Settings App and then the App will exit because the app
will not work properly without the permissions.
¹ X.XXX will be numerical according to the latest software release.

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Using the IPR App
From the home screen of your Android device, press the IPR App icon o ener he applicaion ar
screen. The start screen, as shown below in Figure 8, provides access to the various functions of the
IPR App.
From Figure 8, the left image shows an example of when the antenna is properly connected, with all
functions available. This includes the antenna battery status, which can be monitored from within the
App as shown. The right image shows the limited functionality when there is no antenna connection.
Note: the version number of the App is shown below the Impulseradar logo of the start screen and this
may be requested in the event you need support services.
Figure 8 PinpointR start screen. Right: not connected device.
Switching between different antennas
The IPR App will detect if you are connecting to an antenna that not is the same as the previous
Antenna that you were connected to, and then prompt you and restart the app.
Settings
The settings menu, as shown in Error! Reference source not found., below, contains the parameters
needed for controlling the PinpointR system during data acquisition. Once set, these parameters
remain unchanged for all subsequent data acquisition.
A detailed description of each parameter follows:
Trig Source  defines how data collection is controlled. Typically, this will be the Cart wheel
selected from the wheel option menu, Time or Manual triggering can also be used. In Manual
mode, the user must tap the trig button on the screen for every A-scan1.
Measurement Units  defines whether metric or Imperial values are used. When set to
Imperial, the units will be in feet (ft.) and 10ths of ft.
Distance Interval  defines the distance between every A-scan1, when Trig Source is set to
Wheel, or Manual (sometimes also called point distance).
Time Interval  defines the Time between every A-scan1 when Trig source is set to Time.

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Soil Velocity  defines the velocity used to calculate the depth scale.
Number of Samples  defines the time window or maximum penetration depth, and the
adjacent Max Depth is calculated based on the Soil Velocity.
Data Mode  defines how many bits are used while storing the resulting radar data. PinpointR
antennas, below 600 MHz, can provide more than 16-bits, so 32b can be selected. The precise
number of useful bits depends on the point distance, survey speed, and antenna frequency. A
lower antenna frequency combined with slower speed and larger point distance provides a
higher number of useful bits. The limit today is approx. 19-20 useful bits. Note that using 32
bits during surveys requiring high speed only increase the risk of dropping data in Ethernet-
link, use 16 bits and not unnecessary long time-windows to reduce the load on data
transmission in these cases.
GPS  defines whether to use the internal module or an externally connected system. If
External is selected, you must adjust for the correct baud-rate, which can be obtained from
the user manual for the GPS system used. EXT + TP is intended for use with an external while
gathering precise time-stamping on each A-scan with help of the internal GPS. If no external
GPS is present, when this option is selected, a time-sync file will still be created. See also later
paragraph on GPS-symbols.
Wheels  defines the type of wheel connected to the antenna for distance measurement.
Standard wheel options include Cart and Single, but you may create additional wheels and/or
adjust wheel calibration settings as described in the wheels section below.
Restore factory settings  If internal settings have been corrupted or after a firmware upgrade,
its advisable to restore to factory settings, all essential system parameters will be reset to
initial state.
Firmware upgrade - Menu trough which upgrade of firmware may be done, see later
paragraph.
1 An A-scan is an envelope, or trace, formed by connecting all the samples collected at one specific point along the survey line.

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In Figure 9 below the general functions on the start screen and data collection screen is shown.
Figure 9, Menu bar during data collection
GPS-symbols and function
By pressing the GPS-symbol a, static view on the present satellites and coordinates can be viewed,
see Figure 10, below.
The GPS symbol will change with the solutions at hand, symbols we use to show this are given in
Figure 10.
Note that, for the GPS-coordinates to be saved on file, the GPS-symbol need to be shown, prior to
starting the data collection.

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Figure 10, GPS-symbols and their meaning and GPS information showed when the symbol is pressed
Note that when an RTK-GPS is used, hooked up to the system, the positing file generated is adjusted
for the time lag in the RTK, so no further data manipulation is needed. The timing-file is provided for
the rare occasion when the RTK is run separated from the system, for example; in a multi-sensor
setup.
Wheels
The Cart wheel is the default selection for the PinPointR system. Any other use of the system will
require a new wheel calibration.
Data viewing and adjustment
The screen and system functionality differ depending on project type. It is only possible to use the
marker and velocity analysing functionality for One-Line projects. During data acquisition independent
of project type, the screen view can be set to show either the high frequency channel only, low
frequency channel only, or both high and low frequency channels together, as shown in Figure 11
belo A doble-ap of he deice creen ill oggle beeen hee ie. For One-Line projects
markers can only be set when one of the two channels are viewed on the screen. When both high and
low frequencies are viewed the marker and velocity analysing icons are not available on the lower
most part of the screen.

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Figure 11 Screen views during data acquisition,
In the single-channel view, the gain and contrast of the radargram image can be adjusted from the
scrollbars in the filter-window. The filter window will pop up when the filter-icon is pressed (marked
with red in Figure 14). The filter window will close if you press the close button or somewhere outside
the filter-window. The contrast scrollbar for contrast is marked in green, and the scrollbar for gain is
marked in blue in Figure 14.
The app remembers which channel you last viewed (HF, LF or both), and which contrast and gain
settings you last used. And next time a new project or survey is started it will apply those settings.
If you restart the app those specific settings will be reset.
Note: the images shown in Figure 11 are screenshots from a Panasonic Toughpad FZ-A2 device. Icon
sizes will change depending on the size of the Android device.
Whilst also in the single-channel view, the time-zero position can be adjusted, by dragging the scale
up and down. Once set, the time-zero position is saved and will be used for subsequent profiles.
Therefore, it makes sense to do this early on in a survey; this will also save time in managing data
imported into the CrossPoint interpretation and visualization software.
Before starting data collection, or after stopping a line, you have access to the settings through the
menu button, which is in the upper right-hand corner of the screen, as shown in Figure 11 below.
Figure 15 Acess setting menu

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Zooming is done, as on other Android-devices, with two-finger gestures, increasing or decreasing the
distance between the fingers.
If the radargram does not fit on the screen, scrolling may be done with a 3-finger gesture, dragging the
fingers up and down on the screen, will scroll the radargram.
Other buttons provide functionality for controlling the collection of data, including Start, Halt/Resume
and Stop. Pressing the Halt button temporarily pauses the data collection, whilst pressing the same
button again, allows data collection to be resumed.
Restoring missed traces
During data acquisition and the transfer of radar data from the antenna to the Android device, some
of the radar traces may be missed. This is typically due to a weak or interrupted Ethernet link. For
example, when working in areas with high levels of RF disturbance, or when the data acquisition device
is moved too far from the antenna.
However, since all radar data is saved o he anenna inernal microSD card an mied race can
easily be restored at the end of each profile when the stop button is pressed. Should this occur, a
message will be displayed on-screen, as shown in Figure 16 below.
Note: If you put the App in sleep-mode (minimize the App) during data acquisition (e.g. if you answer
a phone call), the ongoing survey will stop and the data will be saved, but the missed traces may not
be restored!
Note: it is essential that the data acquisition unit and the antenna are near to each other during this
process. Otherwise, the restoration process could take considerably longer.
Figure 16 Data recovery when the acquisition is stopped
Projects
From he ar creen o ma elec eiher a One-Line Projec or Mli-Line Projec As the names
imply, this gives the option of collecting projects with either single or multi-line profiles. Regardless of
project type, a *.cor file (GPS coordinates) will be saved alongside the GPR data if the internal GPS can
lock onto suitable satellites.

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One-line project
One-line projects include marker set function and velocity analyzing by the hyperbola fitting method.
The function buttons are placed under the radar data screen when data is showed with either the
low or high frequency, see Figure 14. Whitin the software the operator can change inbetwen the
AS5488 and APWA standard for markers but also create cuctomized maker typs with text and colour
symbols. Note that the selection of marker standard or custom must be done before a single project
is started. Once a One-Line project is started the markers are locked to the previous used one.
Figure 16 description of the marker and velocity analyzing functions
Multi-line project
Three types of multi-line projects are available as follows:
Reference Line (RL)
Dual View (DV)
GPS
Reference Line (RL)
The RL project associates and orientates GPR profiles to a straight-line reference. This can be any type
of physical line that can be referred to during and after data collection. Examples include boundary,

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curb or fence lines, or simply a metering-tape laid on the ground. Regardless, one end of the line needs
to be defined as the starting point and then equidistant points marked along its length. Profiles are
then gathered in straight lines, perpendicular to the reference line, and a reference-marker is placed
within the GPR data every time the reference line is crossed, as illustrated in Figure 12, below.
Figure 12, Layout of a reference-line project
From the project start screen (Figure 13 below), you will be prompted to enter a project name and the
distance between each profile Once enered pre he Sar the Projec bon o conine
Figure 13 Multi-Line Project start screen
Once the project has started, the data collection screen will appear with directional control buttons,
as shown in Figure 14 below.

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Note: during data collection, you can still view either the single-channel (low or high frequency) or dual-
channel (low and high frequency) data, just as in the ‘one line project’ mode.
Figure 14 Screen views and controls during reference-line projects
1. Tap on the forward button
to start the first profile.
2. Tap on the right arrow
button when the cart is on
top of the reference line.
3. Stop the first profile by
tap on the stop recording
button.
4. Start the second
profile by tap on the
forward button.
5. Tap on he lef arro
when the Cart is on top of
the reference line.
and so on.
Reference-line

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Figure 20 Controls during reference-line projects, forward survey, and profiles to the right of the first profile
Select the direction of the collection (forward/backward) and press the appropriate button to start the
profile. Note that the example in Figure 20 illustrates a forward move of the cart for all profiles in the
Reference Line project, requires a 180° turn at the end of each profile. The selected button will be
highlighted in green to indicate the selected direction and additional buttons (left/right) will become
available. These buttons are used for the placement of the reference marker, by indicating the position
of the start point in relation to the direction of travel, when crossing the reference-line.
Referring to, the first profile is collected by moving away from position 1. Upon reaching the reference-
line at point 2 a reference marker i placed in he daa b preing he righ arro bon The righ
button is selected because the next profile will be to the right of the first one. Make sure that the Cart
is stopped on top of the Reference line, arrows on the Cart hood must match the Reference line. The
profile continues to be collected until reaching point 3, at which the stop button is pressed.
The system is then moved to the start point of the second profile (point 4). Important to keep the
distance in-between the profiles as decided in figure17. Press the forward button to start the
measurement when the Cart is in position for the second profile. Upon reaching point 5, a reference
marker is again placed into the data. This time the left marker button is selected because the next
profile will be to the left of the present one.
After the last profile has been stopped just sweep from the
bottom of the screen on the standard Android way, tap on
the arrow pointing to the left and answer yes that this
Reference line project will be finished.
Figure 21, Close an RL-project
If data is correctly gathered, all profiles will be correctly aligned and orientated with the reference-
line and each other when opening the project in the CrossPoint® software.
Dual View (DV)
This project type is intended to aid in on-site interpretation, rather than in post-processing. It is
particularly useful for identifying features/objects that are relatively linear across a survey area, e.g.
foundation walls, tree roots or utility lines.
When collecting and viewing a single GPR profile, it is difficult to judge whether a reflector is a genuine
point of interest, or simply from random debris like a stone or piece of broken rock. Consequently, it
is useful to view one, or more, parallel profiles to assist in their interpretation. This is the basis for the
DV-project, which allows the current profile being collected to be viewed alongside the previous one,
thereby making it easier to see if reflectors line up in similar positions across them. For this to work,
the start position of each profile must be aligned with the stop position of the previous profile, as
shown below in Figure 22, below.

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Figure 22 Layout of Dual View-project
When the stop-button is pressed at the end of a profile, the radargram is automatically reversed, so
ha he ne profile ar poin i aligned correcl A he ne profile i colleced i daa can be
compared with the previous line. Furthermore, the back-up cursor (red line) covers both profiles
making it even easier to see how closely reflectors align, as shown in Figure 23 below.
It is possible to import a DV-project into Crosspoint®. Doing so, there should be equidistant spacing
between all profiles and profiles should be parallel as required for an RL-project. On import, the end
of profile 1 constitutes an artificial reference line. If this is thought of prior to the survey, a DV-project
may be used for post-processing/interpretation just as an RL-project.