TERSUS UAV PPK Solution User manual

User Manual
Version V1.0-20180928
User Manual
For UAV PPK Solution
©2018 Tersus GNSS Inc. All rights reserved.
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More details, please visit www.tersus-gnss.com

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Table of Content
Document Revision History....................................................................................... 3
1. Introduction ........................................................................................................ 4
2. Hardware Connection......................................................................................... 5
2.1 Power Supply .............................................................................................. 5
2.2 EVENT Connection ..................................................................................... 5
2.3 Connection Diagram.................................................................................... 7
3. Software Configuration....................................................................................... 9
3.1 Base Station................................................................................................ 9
3.2 Rover on UAV ........................................................................................... 10
3.2.1 EVENT Configuration.............................................................................. 10
3.2.2 Rover Configuration ................................................................................ 11
4. Data Quality Check .......................................................................................... 12
5. Data Download................................................................................................. 14
6. GeoPix User Guide .......................................................................................... 17
6.1 Introduction of GeoPix............................................................................... 17
6.2 Guide for GeoPix........................................................................................... 17
6.2.1 Set Working Directory and Import Pictures.............................................. 18
6.2.2 Import Base Data and Rover Data........................................................... 19
6.2.3 Data Processing...................................................................................... 21
6.2.4 View processing results........................................................................... 22
7. Terminology ..................................................................................................... 25

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List of Tables
Table 1 MARKCONTROL................................................................................. 10
List of Figures
Figure 2.1 Connect power cable to the DC port of BX316R................................ 5
Figure 2.2 Hot shoe adapter and hot shoe cable................................................ 5
Figure 2.3 Connect hot shoe adapter to the camera........................................... 6
Figure 2.4 Outline of the 40-pin cable................................................................. 6
Figure 2.5 Connect hot shoe connector to the EVENT connector....................... 7
Figure 2.6 Connection diagram of Tersus UAV PPK Solution............................. 7
Figure 2.7 Recommended installation ofAX3705 helix antenna on the UAV ...... 8
Figure 4.1 Check satellites information using AX3705 antenna ........................ 13
Figure 4.2 Check satellites information using AX3703 antenna........................ 13
Figure 5.1 Select serial port and download speed............................................ 14
Figure 5.2 Select download path...................................................................... 15
Figure 5.3 Download data in progress.............................................................. 15
Figure 5.4 Data download is completed ........................................................... 16
Figure 6.1 TersusGeoPix in the Start menu...................................................... 17
Figure 6.2 Main interface of Tersus GeoPix...................................................... 18
Figure 6.3 Select a folder for working directory................................................. 18
Figure 6.4 Select base data and rover data without base position.................... 20
Figure 6.5 Select base data and rover data with base position......................... 21
Figure 6.6 Click RUN to start data processing.................................................. 21
Figure 6.7 Geotagged Result List..................................................................... 22
Figure 6.8 Check the coordinate information of the tagged pictures................. 23
Figure 6.9 Positioning results of the GNSS post-processing............................. 24
Figure 6.10 The location information of the EVENT moments.......................... 24

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Revision History
Version
Revision Date
Change summary
1.0
20180928
Initial Release

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1. Introduction
Tersus UAV PPK solution includes BX316R PPK Receiver, AX3705 Helix Antenna and
Tersus GeoPix Software. BX316R PPK Receiver supports multi-constellations and
dual-frequencies. It has in-built 4GB memory (eMMC) for GNSS observation data
recoding. Very small and light AX3705 HelixAntenna is designed for UAV applications.
Tersus GeoPix integrates the functions of GNSS observation post processing, Event
Mark interpolation and geotagging in EXIF. By clicking one button after input all
necessary data, the software provides the result directly as input for image processing
software. Tersus GeoPix is part of Tersus Tool Suite which can be downloaded from
the official website: https://www.tersus-gnss.com/software.
The general process of this solution is as follows:
First, mount AX3705 helix antenna and BX316R PPK board on the drone, connect
camera hot shoe to Event Mark port of BX316R for camera shutter
synchronization. Then set BX316R on UAV to record GNSS raw observation,
ephemeris and event mark time. Next, fly the UAV, make base and rover record data
at the same time. After flight, download data from the base and the rover and conduct
post processing using our Tersus GeoPix software.

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2. Hardware Connection
2.1 Power Supply
BX316R PPK Receiver is powered by 5V ~ 12V DC. (A power bank with 5V output or
12V power supply comes with UAV). The antenna is fed through the BX316 receiver
and no external power is required.
Figure 2.1 Connect power cable to the DC port of BX316R
2.2 EVENT Connection
Connect hot shoe adapter to the camera using the hot shoe cable (Figure 2.2 and 2.3),
then connect the hot shoe connector to the EVENT connector of the 40-pin cable
(Figure 2.4 and 2.5).
Figure 2.2 Hot shoe adapter and hot shoe cable

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Figure 2.3 Connect hot shoe adapter to the camera
Figure 2.4 Outline of the 40-pin cable

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Figure 2.5 Connect hot shoe connector to the EVENT connector
2.3 Connection Diagram
The connection diagram of Tersus UAV PPK Solution is as follows:
Figure 2.6 Connection diagram of Tersus UAV PPK Solution
In the above connection diagram, the AX3705 helix antenna is recommended to be
installed as shown in below Figure 2.7. Ensure the AX3705 helix antenna is installed
vertically and the bottom of the antenna is above the UAV.
Note: It is suggested to keep the antenna away from metal devices to avoid signal
interference.

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Figure 2.7 Recommended installation of AX3705 helix antenna on the UAV

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3. Software Configuration
3.1 Base Station
The base station is installed in a high-lying, open environment and close to the area to
be surveyed. The command configuration in Tersus GNSS Center is as follows:
LOG FILE RANGEB ONTIME 1 //output 1Hz observation data to the
storage device
LOG FILE GPSEPHEMB ONTIME 30 //output 30s interval of GPS ephemeris to
the storage device
LOG FILE GLOEPHEMERISB ONTIME 30 //output 30s interval of GLONASS
ephemeris to the storage device
LOG FILE BDSEPHEMERISB ONTIME 30 //output 30s interval of BDS ephemeris to
the storage device
LOG FILE BESTXYZB ONTIME 30 //output 30s interval of optimal position to
the storage device
STORETYPE EMMC //set the storage device as eMMC
LOGFILE AUTO //storage mode is automatic storage
SAVECONFIG //save the configuration
If the base station is set up at a known point, the configuration of the base station
antenna coordinates can be added to fix the position of the base station. If the fix
position is not configured currently, it can be input using GeoPix software which details
in section 6.2.2. If there is no known point or no need of precise absolute coordinates,
this step is ignored and the single point solution of base station will be used.
FIX POSITION xx.xxxxxx xxx.xxxxxx xx.xxxx (latitude degree, longitude degree,
MSL height meter)

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Note: DO NOT directly copy the above FIX POSITION xx.xxxxxx xxx.xxxxxx xx.xxxx
commands, where latitude, longitude, and antenna height require entering by the
customer based on the actual known point coordinates.
3.2 Rover on UAV
3.2.1 EVENT Configuration
Open Tersus GNSS Center software, type below command in the Text Console to
configure BX316R receiver.
MARKCONTROL MARK1 ENABLE POSITIVE 0 800
SAVECONFIG
This command is usedto control the mark inputs. Using this command, the event mark
inputs can be enabled or disabled, polarity can be positive or negative, and a time
offset and guard against extraneous pulses are optional.
Table 1 MARKCONTROL
Name
Value
Command
MARKCONTROL signal [switch[polarity[timebias
[timeguard]]]]
Example
MARKCONTROL MARK1 ENABLE POSITIVE 500 100
Signal
MARK1
This command is applied to Mark1.
Switch
ENABLE
Enables processing of the mark input signal (default).
The mark input signal is ignored.
DISABLE
Polarity
NEGATIVE
The polarity of the pulse is negative (default).
The polarity of the pulse is positive.
POSITIVE
TIMEBIAS
An offset, unit is ns, to be applied to the time the mark pulse
is input.
TIMEGUARD
A time period, unit is ms, during which no response to the
input pulses.

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Currently only MARK1 is supported in this PPK solution. The other commands refer to
details in Log & Command document.
3.2.2 Rover Configuration
When the receiver is configured as a rover on UAV, the command configuration in
Tersus GNSS Center is as follows:
LOG FILE MARKTIMEB ONMARK //output MARK time information
LOG FILE RANGEB ONTIME 0.2 //output 5Hz observation data to the storage
device, 0.2 means 5Hz, 0.05 means 20Hz
LOG FILE BESTXYZB ONTIME 0.2 //output 5Hz optimal position to the storage device
LOG FILE GPSEPHEMB ONTIME 30 // output 30s interval of GPS ephemeris to
the storage device
LOG FILE GLOEPHEMERISB ONTIME 30 //output 30s interval of GLONASS
ephemeris to the storage device
LOG FILE BDSEPHEMERISB ONTIME 30 //output 30s interval of BDS ephemeris to
the storage device
STORETYPE EMMC //set the storage device as eMMC
LOGFILE AUTO //storage mode is automatic storage
SAVECONFIG //save the configuration
Note: The output frequency is setup according to the speed of the drone.

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4. Data Quality Check
After completing the above hardware and software configurations, it is recommended
to take the computer and the whole kit of UAV to the outdoor open environment to do
the following check.
Connect the BX316R receiver to the computer using serial port, open Tersus GNSS
Center software and type below commands in the text console window:
LOG GPGSV ONTIME 1 //output the satellites information including elevation
angle and CN0 of the L1 frequency
LOG RANGEB ONTIME 1 //output the observation messages including CN0 of
L1 and L2 frequency
Check the signal strength of GPS, GLONASS, and BDS satellites in the ‘Signal
Strength’ window. Check the elevation angle information in the ‘Skyplot’ window.
Please ensure that at least FOUR satellites of each type of the three satellite system
has the CN0 value greater than 45 dB in Asia-Pacific area, at least FOUR satellites of
GPS and GLONASS systems has the CN0 value greater than 45 dB in other countries
and regions. Following figures show the satellites information using two kinds of
antenna as examples:

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Figure 4.1 Check satellites information using AX3705 antenna
Figure 4.2 Check satellites information using AX3703 antenna

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5. Data Download
Connect the BX316R receiver to the computer using the USB cable, and the
corresponding serial port will appear in the device manager of the computer (if there is
no serial port, please download the USB driver for Windows system from the official
website https://www.tersus-gnss.com/software /david-receiver).
Open ‘TersusDownload.exe' and select the corresponding serial port. Select 'use
current baudrate (USB:80KB/Second, Serial:8~32KB/S)' for the 'Download Speed' and
click [START] to start.
Figure 5.1 Select serial port and download speed
After waiting for the software recognize the USB transmission baud rate, the software
automatically pops up the file name and other information stored in the EMMC. Select
the storage directory for the downloaded data in ‘DownloadPath’. Refer to the figure
below.

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Figure 5.2 Select download path
Select the data needs to be downloaded and click [Download] to start the download as
follows:
Figure 5.3 Download data in progress
When the data download is completed, ‘OK’ is displayed in the ‘status’ of the file
information window.

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Figure 5.4 Data download is completed

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6. GeoPix User Guide
6.1 Introduction of GeoPix
Tersus GeoPix is a software for processing GNSS observation data collected by UAVs
and ground base stations, and tagging EXIF coordinate information of EVENT moment
photos.
Tersus GeoPix is part of Tersus Tool Suite. The latest version of Tersus Tool Suite can
be downloaded from Tersus official website (https://www.tersus-gnss.com/software).
Install the Tersus Tool Suite software, and GeoPix can be found under the Tersus
GNSS Center in the Start menu (in Windows 10 operating system for example).
Figure 6.1 TersusGeoPix in the Start menu
6.2 Guide for GeoPix
Open Tersus GeoPix software and get below interface.

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Figure 6.2 Main interface of Tersus GeoPix
6.2.1 Set Working Directory and Import Pictures
Click [Select] on the right of ‘Working directory (Auto load pictures with geotag if there
are pictures in this directory)’, select the folder of the pictures taken by the camera at
the time of triggering EVENT as the working directory, and the software automatically
recognize the pictures and display the photo shooting time and other information in the
software. (Temporarily supports pictures of .JPG and .CR2 format only)
Figure 6.3 Select a folder for working directory

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!
Note: If there are no pictures at the EVENT moment need to be tagged, only the
appropriate folder needs to be selected as the working directory to output the PPK
calculation result.
6.2.2 Import Base Data and Rover Data
For Base Data and Rover Data, select the downloaded base data and rover data
respectively, in which base data supports three kinds of formats including Tersus
Binary (*.dat;*.trs), RINEX file (*.*o), and RTCM (*.dat); rover data supports Tersus
Binary (*.dat;*.trs) only.
!
Note: Select Tersus Binary (*.dat;*.trs) when the observation data is obtained using
Tersus GNSS receiver.
If the antenna coordinates of base station have been configured using the FIX
POSITION command (details refer to section 3.1) in the base station configuration,
there is no need to check the 'Input Base Position (check it when no position in base
data file)' which is shown in Figure 6.4.
If the FIX POSITION command is not configured, it is needed to check this option and
input the antenna coordinates of the base station. The coordinates are input in the
DEG format (shown in Figure 6.5), DMm (DDMM.mm) format, or DMS (DD, MM, SS)
format.