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Pinnacle User`s Manual

1. R Sd 3 re Gl alee ailability odo omal A O A o ee eee a n ertr egen Http A A E A E E e ee voor op HOOF A O O O SS O SS O A TCOF PDOP Oca 0 38 1 04 1 20 1 36 hd T mm o T Welle This command is available for vectors and occupations Availability number of visible satellites GDOP Geometric Dilution of Precision PDOP Position Dilution of Precision HDOP Horizontal Dilution of Precision VDOP Vertical Dilution of Precision TDOP Time Dilution of Precision Note that when planning an occupation the user typically needs to have four or more satellites in sight Also note that it is not recommended to use time intervals with PDOP gt 6 When the user modifies the cutoff angle obstructions time interval point position or used satellites the DOP and Availability windows will be updated The Satellites availability and DOPs plot contains the Legend subwindow with the following items Availability VDOP HDOP TDOP PDOP GDOP In the Legend window the user can enable or disable these plots Note that the Control Bar contains buttons shared by all OP windows 43 2 4 10 The Visibility window t ES Visibility for Occupation pl 2 ajalelx Sl S alal Wisibility 4 O37 This window is available for vectors and occupations It describes satellite visibility for the selected vector or occupation within the corresponding time frame Satellites are presented
2. e Pseudo kinematics Pseudo This is to process multiple occupation measurements when every survey point is occupied several times during the pseudo kinematic session Although every re occupation is short the whole session may take up to an hour The Static engine is based on a classical least squares technique It is intended to 83 process dual frequency dual system GPS and GLONASS measurements In Pinnacle advanced algorithms are used for cycle slip detection correction and fast ambiguity resolution note that a fixed ambiguity solution may be either full or partial The vectors are processed one by one independently Data processing is adaptive depending on baseline length total number of measurements observation time and other considerations The Kinematic engine is primarily intended for determination of trajectories However this is a general purpose engine which can be used for solving both pure kinematic problems e g aircraft applications and mixed problems such as Stop amp Go The Kinematic engine is also a least squares estimator All trajectory points and all vectors are calculated simultaneously The Kinematic Engine requires no initialization at startup time since the trajectory is processed as a whole 6 3 Setup Engine In the Process module the user may select between particular engines with the help of the Add Remove Engines window Add Remove Engine Show MM DGPS Engine v03 00 0
3. Green circles indicate Enabled channels If you don t need a channel to be activated the next time you run the Schedule you can Disable this channel by clicking on the corresponding green circle or by right clicking on the channel item in the list and then selecting Disable trom the pop up menu The circle will turn red in either way To enable the channel back click on the red circle or select Enable from the same pop up menu While the channel is active the circle is marked in yellow and you can neither enable nor disable this channel 3 3 2 Status Icons The clock icons next to the channels indicate that these channels are ready for activation As the channels are processed and their status changes the channels icons are changing too The following table shows all of the possible channel status icons File successfully imported into Project Database El There was an error file cannot be opened An error occurred while handling the file This file may contain corrupt data Channel activation is deferred according to the Schedule and then the user aborted waiting on data An internal error occurred while importing the file A EP 50 This file has already been loaded into this Network Y Channel is activated import is in progress z Additional information When the Schedule is activated the Import window shows messages indicating the status of the corresponding Channels and the progress of data impo
4. Long Greed Size mir E Stark Position Left Bottom Greed Sequence From Lett Bottor to Aight to Up Lancel Help Regional geoid models represented as binary files can be imported to Pinnacle only on the condition that their format coincides with that of the GEOID96 model lt is also possible to import regional models that are specified as text files In this case geoid heights should be written in the file as follows note that either way is acceptable L 1 along the parallel eastwards starting from the northernmost parallel down to the southernmost one 2 along the parallel eastwards starting from the southernmost parallel Each line should include one or more geoid heights separated by spaces The way the geoid heights are arranged the coordinates of the starting point the number of columns and rows in the model and the model s regular grid steps along the meridians and parallels are shown in the corresponding dialog window 5 8 4 Creating Local Geoid Models The goal of the user creating a local model is to provide an accurate conversion between ellipsoidal and orthometric heights for the survey areas where it is impossible to effectively employ any existing geoid models e g when there are no regional models for the area of interest and global models do not provide necessary reliability and precision Local geoid models are created for a Subnet as follows e perform a minimally constrained adju
5. Pinnacle User s Manual Last revised May 27 1999 USER S NOTICE No part of this software may be reproduced transmitted transcribed stored in a retrieval system or translated into a language in any form by any means without the express written permission of Javad Positioning Systems hereinafter referred to as JPS except a copy kept by the purchaser for backup purpose Specifications are subject to change without notice JPS provides this manual as is without warranty of any kind elther express or implied including but not limited to the implied warranties or conditions of merchantability or fitness for a particular purpose For updated manuals and software or product release information you may visit JPS WWW site at http www javad com or contact JPS Customer Support by e mail pinnacle javad com and support javad com Copyright 1998 Javad Positioning Systems All rights reserved Table of Contents le GUded TO aaa baaa 7 LA ASTARTING YOUR WORK aia iia iloctia ies 7 1 1 1 Opening or creating a Project cccocoonnccccoconncocconnnononononnonanonnnnncnonononnnnnnnnnnnnnrnnnnnnonannnnenannnnnnnnns 7 1 1 2 Creating Networks in Your Project ooooccccococicococononocoonnnnoconnnnononnnnncnnnnnnnrnnnnnnonanonnonaninnnnnnns 9 1 2 FULL PLANNING METHOD ui ci sic 9 1 2 1 Creating Subnets and Planning Points VectoFS oooocccccccccconccccncccnncccnnnnnnnnnnnnncnnnnnnnnncnnnnccnnnnannnn 9 1 2 1 1 Create Poin
6. 54111 DODDRIDGE N D33 SH 110 DODDAIDGE Nang H 100 DODDRIOGE MADE 5H 090 DODORIDGE Manes SWATNER DODDRIDGE Hangs VISTA1933 DODDRIDGE Nang WiSTA 1333 DODORICGE E ABER 1933 DODDRIDGE Hans ABER 1933 DODDRIDGE Hangs E TEJA E E Fred oa Fired Fined C Mied C Mied A C Mied C Moved C weighted Weighted Weighted 7 Weighted i iC None Ci Nons e C Hone C Hone Select the points you need recall that we are going to use DODDRIDGE and SO 101 in our example and press the gt gt button These points will be copied from the left hand list to the Selected ltems side Press the Close button These two points appear in the Network View Note that if you do not see all of the points that you have selected it may be because the map scale is too small causing some marks to overlay one another Press the OK Fit into window button to expand the view Also note that the points are marked with squares and triangles This indicates that these control points heights and plane coordinates are fixed in this SubNet 2 1 3 Planning New Points To enter new points in the network press the Al Enter point drawing mode button This switches the Point Drawing Mode on or off Alternatively right click a blank area in Network View and select Planning New point from the pop up menu If Point Drawing Mode is on the cursor shape will change to Y while in the Network View window The coordi
7. cooncccncnccnnnnncnnnnnennnnncnannrnnnnnrnnan nena nennen ennnen 56 4 3 POINTS TO BE ATTACHED cesta ainia 56 4 4 ATTACHING CONTROL DATA TO POINTS ju eeeeceeecceeecceeecceescceeeceesceeeseeeaeeaeaseceeeeeeseeeeseanaseceasseuseeeeseeeeseas 57 4 4 1 The Select Control Data Lists Dialog BOX occoocoonccncccooonoconooonononononnnanonnnnonnanonnnonnnanennnos 57 4 4 2 The Attach Points to Control Point Items Dialog BOX cccccocccccoconncccnnnccooononononnnnnonononanonnnns 58 5 Coordinate Transformations and Geoid ModelS oococooroccococcoconcaroncanonnanos 59 STELP OS cor ei 60 BA INS a E E e E E 61 5 3 GRID SYSTEMS A e a O E A 64 5 3 1 The Zone List dialog DOX ooccccccoconcconccononcconocononononnnnnanonnononnnncnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnos 66 5 4 LINEAR UNITS OF MEASUREMENT ceccccceesecceseeccenecceeneeceaseeeeaseeeeuseeneneeeneneeenaeeeeaeeeeeaseeeenseanensseneneess 68 5 5 COORDINATE CALCULATOR FEA 70 5 6 HEIGHT CALCULA A e aaa 71 5 7 TABLE CALCULATOR de rada E Sd ae 72 50 GEOID MODELS sii 75 9 60 11 NC GOOG Models LIS o a dd OL 76 90 2 GLI MOOG TUVE Si idas 76 3 03 1MPOFINO GOOIAMOIO Sa A A A das 77 0 951 Global Model bei oe 77 5 8 3 2 Regional Model lIMPOM esca a eee 78 5 6 4 Greaiing Local Geoid Models aa 78 5 0 0 EGIing Geod MOTOS 120 A Suis eee ia ds 79 5 6 6 USING GCOIG TICIO INS ites sass one ioe area T eee i 82 SO OCC S SING soar co nena etc ore sates eee eee
8. forces the engine to decimate measurements on an every Epoch Gap th basis 91 Only the last three parameters in the above list are user definable The rest of the parameters are dependent on the three user definable parameters and are recalculated every time the triplet is updated Note that all of these are in units of Epoch 6 8 2 The Satellites sheet This sheet gives the user the opportunity to view the satellites measured during the occupation and to select those to be used in the course of data processing You can prohibit the use of a satellite completely or you can only prohibit the engine to use this as a reference SV If a satellite is not used prohibited a bold red crosshair or a regular red crosshair will be Superimposed onto the corresponding satellite s icon respectively STOP Occupation Parameters Oe ES Timing Satellites W The use ofthis S is disabled je Use as ereterence 5 te disabled SV Status Do not use this SV when checked this SV will not be used in the course of data processing Do not use as a reference SV when checked this SV will not be used as a reference SV To change the receiver s status double click on its icon View Icon display satellites as icons List display satellite numbers only Report this provides a verbose report on the corresponding satellite including e start and end times for the satellite observation period e satellite observ
9. highlight its node in Project Tree panel and press the left Make button You will see a Project Maker window open notifying you of the system launching and logging the operations as prescribed by the Make function Then an mport window pops up to activate the data channels you scheduled followed by the Process window s reports on the status of vector processing And finally a Network View for your Subnet is displayed together with the panel providing a verbose report on the SubNet adjusted If all these modules finish successfully in the end you will have all the data in your Network brought up to date and consistent To view or export the coordinates of this network close the Adjustment window and right click on the New SubNet and choose Report Pick Adjusted Point Coordinates in Selected System and choose Run Default Choose Grid System datum to SPC83 and Zone to Texas Southern 7X_S 18 Coord System E System type C Z C BLH f Grid System datum spcss Zone TH Cancel Help Click OK and the point coordinates should show up in a report in your default web browser To produce a text file choose Adjusted Point Coordinates in Selected system Text as the Mode and click Run to File to save to the local disk 1 3 Data First Method Here we begin with an empty Network gradually navigating through the entire processing cycle starting with raw data planning Occupations etc and finishing with an adj
10. then the report must be processed separately Each report may be processed in one of the following three modes HTML Text Binary Note however that every particular report has its own dedicated or main mode When only one report is selected from the list this will be associated with its dedicated mode Binary mode is used for special export purposes HTML mode is considered the principal one and is used for most reports Text mode is used both for text exports e g NGS B file and debug purposes see below 116 To view reports one may use either text editors for Text mode or NT Explorer for HTML mode Reports in Binary mode can be viewed with the help of a Hex viewer or if handled in Text mode by means of a text editor To print a report first save its contents to an appropriate file and then print this file as usual In fact Report Generator is a tool supporting the following DB types SubNet Session Solution SubNetXPoint SubNetXVector Fan These buttons serve the following purposes Open opens for editing the file whose name is specified in the File name field Insert inserts a new job the user is supposed to specify the new job name and select the existing file where he she is going to insert information Delete deletes the selected job Browse launches the browser 8 1 SubNet Reports SubNet 1 Network Adjustment Summary Report provides a summary for the adjusted SubNet number
11. to overlay one another Press the OK Fit into window button to expand the view 11 Note that point marks have squares and triangles around them This means that heights and plane coordinates of these points are fixed in this SubNet 1 2 1 2 Create Points Without Control Data To enter points in the network use the de Enter point drawing mode button This toggles Point Drawing Mode between on and off When on the cursor shape changes to Y while in the Network View window You don t need to locate the points precisely even approximate positioning will suffice The points positions will be updated in the course of data processing In point drawing mode click the necessary location in the Network view A new Point will be created and associated with your Subnet You will be prompted to enter or modify this point s properties Properties for Point ES Properties for Point x Navigational coordinates Processing coordinates Navigational coordinates Processing coordinates General Preliminary coordinates General Preliminary coordinates Name DODDRIDGE Latitude ca Jor 37 faa 5239065 Comment no E I I Longitude Ew 97 22 7 29055 Height OOOOOO0001 34 aystemidatum y GS84 z one RMS m mo SS Coordinate Calculator Cancel Help Cancel Help You will have to enter the name of the point otherwise the OK button will remain grayed out You can also enter a comment and o
12. used to set up parameters governing the individual tolerances for vertical and horizontal misclosures respectively The tolerance equation is the same as the one shown in section 7 1 1 7 2 Vector Network Adjustment Minimally Constrained Adjustment To make blunder detection more effective the user should perform a minimally constrained adjustment of the given vector network To set up the adjustment parameters right click on the subnet and select Properties from the subnet s pop up menu When the Properties for Subnet window is opened select the Parameters tab A dialog window will appear where the adjustment parameters may be set see below 104 e Inthe Adjustment mode radio button group select the desired adjustment mode either interactive or automatic the latter is based on either rejecting or downweighting blunders Note that the recommended mode is interactive e Select the None radio button from the Transformation Type group that is no transformation parameters will be estimated e Select a confidence level either 95 or 99 for the VPV test Confidence Level for VPV Test and the blunder detection test Confidence Level for Blunder detection e Inthe Detect Blunder in group select a coordinate system in which the program will search for possible blunders either NEU northing easting up or XYZ e Choose WGS84 for the System Datum field this indicates that adjustment will be performed in the WGS84 d
13. which consists of different pages provides satellite azimuths elevations latitudes and longitudes as well as the corresponding DOPs for the selected observation period The following commands are relevant to all OP windows 36 FEA 2 4 1 10 Time Date This invokes the Time Date editor that allows the user to set an observation time for a specific vector or occupation Once the observation time for a vector occupation is changed all of the corresponding OP windows will be updated 2 4 1 11 Current Local Time HE This displays the time bar for the selected observation period The user can choose the desired time and press the e button Then all the relevant windows those where the button ta is depressed will provide the user with the updated values corresponding to the specified time 2 4 1 12 SVS Check The SVs Check button activates a modeless dialog box which allows the user to switch satellites on and off Once any changes in the check boxes are made the program will update all the relevant windows 2 4 1 13 Set Obstructions On Off The command allows the user to enable the obstructions specified for the selected node When this button is pressed the obstructions for the given node will be taken into consideration When the button is released neither obstruction information nor CutOff elevation is taken into account while computing OP characteristics 2 4 2 Time Date Editor for vector Time
14. 1611 IAD PAM OP Oo e O e PO A 38 ato MIME ZOMG laD arancel icitica 38 2 4 4 The Obstruction Window Ga A ui tases ndapaieuisumeteaseubersuneupasuigdapiducieiuesasousbevtoceroennetansaes 39 2 4 4 1 Cutoff Angle oocoooocccccconccccconconccnononcononcnnononcnnonnnnnncononcnnnnnnrnnnnnnnnnnrnnnnnrrnnnrnnnnanrnnrrnannnnnnanennss 39 2 4 4 2 Undo last line A 39 2 4 4 3 Remove Component T cccccccccsssssssssessesesssesstessesessesesessssestssssesssssssssesesessesessssssse 39 2 4 4 4 Clear all GM ennen n nenn 39 2 4 4 5 Save Obstructions pa caca 39 2 4 4 6 Enclose Component ccoo ronca nnonornncnnrncnrnannrnan 40 2 4 5 The Satellites DUO sit a titi 40 2 4 6 The Almanac button a 41 2 4 7 Current Local Time HE o E anata wean 41 2 4 8 The SkyPlot window WE tia soeces 42 2 4 9 The Satellites availability and DOPs Window ER NL PEE E A E ce 43 2 4 10 The Visibility window LE a E oan ap A E 44 2 4 11 The Elevation Azimuth window B ao 44 2 4 12 The Earth Map window E 2 4 12 1 Load map from file ME cc 45 2 4 12 2 Show map Ea 2 4 13 Report Table El 2 4 14 Printed Forms for use in field E PEPA qq 46 2 5 ANALYSIS OF PLANNED NETWORKS ecescescecceceseueeuceceseuseueeeeuseuseuseeeuseuseeseseuseuseeseseuseuseeeeseuseueeeenseess 47 OD IO Oia sores eee sees seat cases E Im 49 3 1 ADDING LOCAL FILES cccescecceceeceecucceceecuseueeseseuseuseeeuseuseueeseuseuseueneeuseuseueuseuseuseeseseuseuseeseseuseuseeensenss 49 3 2
15. ADDING REMOTE SOURCES AS DATA CHANNELS oocccccoononnconnnnncnnrnnncnnrnnncnnrnnn cnn anar rana nan cnn anar rana nancnnrnnanna 49 3 3 OPERATING YOUR SCHEDULE AND DATA CHANNELS ccoccncconconconcancnncnnnonrnnrnnnnnnnnnnnnnnnrnnrnnrnnranrnnrnnrananas 50 3 3 1 Enabling Disabling Data Channels oocccccooooncconccononononoconononnncononnonnnnononnnnnnnnnannnnnnnnnanrnnnnnnnannnnnos 50 SE USC at 50 TIT ACUM ANA a ii id 51 3 3 4 Activating Schedule Manually oooooooccnnnccononocooononocononncooonooonononononononononcnnnnnnnnnnnnnnnnnnnonononanonnns 51 DO ADO UN a eee eee oe 51 TIO AITANA PODES a id 51 3 4 IMPORT FILTER S sia aaa 52 3 5 OCCUPATION FILTERING eccecceeceeceeceecceceeceuscuseuseuseuseuseuseuseueeeseuseeeseueeuseuseuseuseuseuseuseuseuseueeueeeeeneeeesees 53 3 6 IA ORR TSE TU Pe aus ceanennecesbeceeneseeseceeonenee 53 A Control Data LISS 2 cccccccccecceceeceseecucnecusnecesucneneceucusnucusensucnsnessesessusessusesuseenusensnsenens 54 4 1 CREATING AND EDITING CONTROL DATA LISTS 2 cesscceescceecccnecceeecceeeeeacceneeceeseceeseneeseeeaseenseeeeeeseesens 54 Al Manual TUN OO one ii iio ea 54 Az MPO O CONTON Dad ip tie 55 4 1 3 Export of Control Data from a SUDN6 E oocccccccccnccccnccononocononononononnnnnnnnonnonnnonononononnnnnnnnnnnnnnnannnnnos 56 4 1 4 Copying Control Data Drag and DIOP occccoconccocococoncconccononnconononononnnonnnancnnnonnnannnnnonnnanennnnns 56 4 2 CONTROL POINTS IN PROCESSING AND ADJUSTMENT
16. Ashtech point files pts e SNAP files sta dat e jcp files JPS Control Points files Import can be accessed by the Import Control Data List E button or by the pop up menu s Import Control Data List option 55 A new catalog which contains all the points from the imported file will be created 4 1 3 Export of Control Data from a SubNet To export data from a SubNet this function is relevant only to Adjusted SubNets the user should employ the pop up menu s SubNet to Control Points option which is displayed on the SubNet Panel of the Project Window A new Control Data List which includes all of the points from the given SubNet will be created 4 1 4 Copying Control Data Drag and Drop Control Data List s Control Points or Control Point Items may be copied by using the drag and drop technique for Control Data Lists from one network or Project root into another network or Project root for Control Points from one Control Data List into another for Control Point Items from one Control Point into another which may pertain to the same or a different Control Data List 4 2 Control Points in Processing and Adjustment Control Points with reference coordinates are used both in Processing as seed points for vector computation and Constrained Adjustments for fitting GPS vector networks to local control This explains why in Pinnacle some points must be associated with Control Point Items
17. Since all of the points of the local model are used when interpolating geoid heights to GPS survey points blunders may grossly distort the geoid representation for the area of interest Another critical factor for deriving a quality local model is the density and geometry distribution of the local model s points within the area of interest Generally speaking the more vertical control points are used and the more uniform their distribution over the Survey area the higher the quality of the interpolation and the easier it is to search for blunders Points for which geoid heights are interpolated should be situated within or at least not far away from the perimeter formed by the local model points For areas with a fairly smooth relief a local model s points should not be spaced by more than 5 10 km apart The total number of points in a local geoid model should not be less than 5 Once a geoid model is created it is automatically added to the geoid models list 5 8 5 Editing Geoid Models For global and regional models only their names are allowed to be edited For local models the following features can be edited e model name e geoid height values e geoid heights RMS values some of a local model s points can if required be disabled by marking them as Disabled When you decide to disable points please keep in mind that the number of the remaining points in the model must not be less than 5 When any of a local geoid s po
18. Specifically a dialog box will appear prompting you for a Solution to put your vector into Place vector 50 101 58 111 in solution 13 e Set ar defaut Always use dedauk ae o Cancel Help The Solutions panel will list all of the solutions where you can place your vector s Note that given a pair of points also known as a Baseline and a Solution only one vector relating to this baseline can be put into the Solution Although a Subnet may contain more than one vector for a particular baseline each of those vectors must have its own Solution For your vector you may either select an existing Solution from the list or 29 define a new Solution To create a new Solution press the New button As a result a Properties for Solution dialog box will appear Propeltiez for Solution Geneial Make dependencies News Chutney Mare Cancel Heb In this dialog box enter the new Solution name and press OK Next you will see a dialog box that will allow you to set the processing properties for the new Solution Here you need to choose the right Solution type for the vector you are planning for example Static You can create several Solutions for the same baseline They will appear in the dialog box s list Select those Solutions in which you want to place your vectors If you select m Solutions exactly m vectors will be created and each of those vectors will be in its own Solution In the Sol
19. System Point by point trajectory for all Rays relating to the Fan Fan 2 Network view Landscape Fan 3 Network view Portrait The above two reports are similar to SubNet 4 and SubNet 5 but do with only one particular Fan 119 9 Utilities 9 1 Comparing Two Networks It is possible for the user to compare two adjusted subnets pertaining to the same physical network and having identical points There are three criteria to compare the coordinates of the subnet points the inversion criterion the deviation criterion and the dispersion criterion When comparing two subnets an appropriate confidence level is used When the inversion test is carried out the signs of the scalars dx Xr X 1 0 1 2 are analyzed where the vectors x and x stand for the estimated positions of the point in the first and the second subnets respectively If the test fails this indicates that dx do not behave like zero mean gaussian values In other words this indicates that the estimated coordinates may be affected by systematic errors The deviation test is based on the statistic V dXmax X Ss where dXmax max dx the maximum is taken over the entire subnet x is the empirical mean s is the empirical variation dispersion If the test is passed successfully the differences between the adjusted coordinates of the given point in the two subnets are considered acceptable When the dispersion test is en
20. VECTOR NETWORK ADJUSTMENT MINIMALLY CONSTRAINED ADJUSTMENTD occccccccnnncononcnnnnnnnnanananonos 104 7 3 FINAL ADJUSTMENT ADJUSTMENT USING LOCAL CONTROL 2 sccceesseeccenseeseensseesennseeseenseeseoanees 107 7 3 1 Selecting Control Points for Adjustment cccccseececccssseeeeccescaenseccssaueeeeesssaeesecessaaanseesssaaaess 107 19 2 Attaching Control Data toa GPS SUDNOl y A es O ia 108 LSD GOTO TIO ANYS A A EA ae eee AS A 109 7 3 4 Setting the Adjustment PALAMELELS ccccccccccccseeccccssceeccnseeecnseuseecsaueecesacuesensaussensansesssansesens 110 TA ADJ STMENT FE SUL TS isis ciias 112 PAT PO US IMC A A A A AAA A eee eae adela 113 TAZ HQ IS ICI RI A A A AA AS A EA 113 A E cise a renee sea a ch hae 113 A 223 DIAM Sai AA E AAA 113 1 42 30 JUSIC0O Das les A E es 114 14 24 A0 USTSO Network olas US A eine es 114 LA O AQJUS IMSS DOS AAA AA me nee ey Te 115 MODO GONE OF A A A AAA A AAA AA A 116 Bilis SUBNET REPORTS ia 117 0 2 SESSION REPORTS nia 118 9 3 SOLUTION REPORTS A id 118 9 4 SUBNETXPOINT REPORTS cuicos 119 3 5 DUBNETAVECTOR REPORTS iaa ds 119 0 60 FAN REPORTS cueca 119 I UUES A A a A ATA 120 9 1 COMPARING TWO NETWORKS ennenen nnen nnna 120 9 2 USER DERIVED GEOID ii A AEN 121 9 3 USER DERIVED CONTROL DATA LIST cescesceeceeceeccecceccnscnscneceecneceeceeceeceeceeseaseaseuseuseuseuseuseusenseeeseeseeseess 121 OA SUBNET COMMANDS 002 A ouuisdcautaet 121 DAT Daga osiinc oe aie ste ate sina clan Panace
21. as Subnef command from the pop up menu In the Properties for Subnet dialog box enter the name for the new Subnet Finally the selected points will be placed into the newly created Subnet Also you can retrieve the desired points from the existing subnets and place them into the current one To do this use the Add to subnet command Open the Network View window for the current subnet and press the El Show whole NetWork button Finally select the desired points right click any of them and use the Add to subnet command from the pop up menu 2 2 Planning Vectors 2 2 1 Assigning vectors Once you are finished with planning the survey points you may start drawing vectors between them To enter vectors use the A Enter line drawing mode button in the Network View window This button switches the line drawing mode on and off When the mode is on the cursor changes to N when it is close enough to a network point Press the left mouse button when the cursor is at the first endpoint and drag the rubber band to the second endpoint of your vector Alternatively you can select the desired points by dragging a rectangle over them Then right click somewhere in the empty space of Network View and select Planning Connect points from the pop up menu At this point you need to place the created vector s in an appropriate Solution vector group since vectors in a project cannot exist on their own outside Solutions
22. as colored horizontal bars Each satellite has its own unique color satellite numbers are shown to the right of the Y axis The Visibility window contains Control Bar Status Bar and XY Graph On XY Graph the Y axis stands for satellite visibility wnereas the X axis designates time in hours Once the user changes the current cutoff angle obstructions time interval point position or used satellites the Visibility graph will be updated The Control bar provides buttons common for all OP windows 2 4 11 The Elevation Azimuth window tix Fa Satellite Elevation amp Azimuth for Occupation pl 1 awe ae AAE dl ea AE levation Ed PE AF 10 00 12 00 14 00 16 00 ElevationA 4 11 04545 The Satellite Elevation amp Azimuth window is available for vectors and occupations The Elevation Azimuth window contains Control Bar Status Bar XY Graph On XY Graph the Y axis stands for satellite Elevation Azimuth in degrees while the X axis stands for time in hours When the user changes the current cutoff angle obstructions time interval point position or used satellites the Elevation amp Azimuth graph is updated for the new settings The Control Bar contains the buttons common for all OP windows 44 2 4 12 The Earth Map window l Earth Map for Vector p1 p2 Al x ajalalx tl E alm E 2 5 fra les Latitude o ne egend per Satellite Points Show Points 100 MB 100
23. field measurements The user can open the Obstruction window directly from the SubNets panel by right clicking on the point node and then selecting the Edit Obstructions command Also right clicking on the vector node in the Solution panel and then selecting the View Obstructions command will activate the Obstruction window In the latter case the user can view the obstructions not edit them Note that vector obstructions are defined as a combination of obstructions for both of its endpoints 2 4 4 1 Cutoff Angle X The Cutoff Angle value determines the lower limit of the satellite elevation This value is used for the satellite visibility calculation DOP and Availability calculations are also influenced by this value To reduce the effect of the ionosphere troposphere make planning with a cutoff angle at least 10 above the horizon For typical baselines and single frequency measurements it should be 15 While editing obstructions you must first properly position the Cutoff Angle slider on the elevation ruler in order to exclude low satellites from processing The Obstruction window has the following buttons 2 4 4 2 Undo last line E Removes last line from the Obstruction 2 4 4 3 Remove Component a Removes last component from the Obstruction 2 4 4 4 Clear all I Removes all components 2 4 4 5 Save Obstructions E Saves Obstructions in the DataBase 39 2 4 4 6 Enclose Component UY Completes Obstruct
24. horizontal vertical or both to your points as well as to change the way they are attached for example vertical or horizontal You may also want to detach some of Control Data For a detailed explanation of this procedure please refer to Section 4 4 of this Manual 2 1 4 Deleting points Deleting point s is possible only from the current Subnet or from the whole network To delete a point from a given subnet move the cursor to this point in the Network View window right click on the point and then select the Delete from Subnet command from the pop up menu To delete more than one point select the desired points by clicking the left mouse button while holding down Ctrl Then right click on any of the points to be deleted and choose the Delete from Subnet command from the pop up menu Note that if you need to delete a compact group of points in the Network View window you may drag a box over the group to select the points to be deleted 21 An alternative way to delete a point from the Subnet is to go to the Subnets tree in the Subnets panel select the desired subnet and click the Points node Right click the points node and select Delete from Subnet from the pop up menu When more than one point from the subnet are deleted first check those points in the Points tree When deleting points from the entire network i e from all of the subnets of the given network you should first open the Network View window Y
25. job automatically All you have to do now is select the object you want to be made At the top of the Project Window you can see two Make buttons the first button is above the Networks tree and the second above the data panels cA SubNets Solutions Raw Data Sessions Solution E O Vectors ED A 5N 1105 H O A SN 110 D H O A SN 111 D E The first button allows the user to make the Network that is highlighted in the Networks panel In our example this is the New Network Network If a Folder is highlighted then all of its child Folders and Networks will be made at the click of the button Besides you can check the checkboxes at the Network or Folder nodes corresponding to the Networks to be made If you check select some nodes pertaining to a common parent this parent will become partially selected lf you select a Folder node all its child nodes get selected too The following rules govern the Make feature 17 1 To make a Network means to make all its SubNets 2 To make a partially selected Folder means to make all its selected Networks and all its child Folders 3 To make a Folder that is not checked deselected means to make all its Networks and all its child Folders 4 If a partially selected node is highlighted it will be made together with all its partially selected siblings 5 If a deselected node is highlighted this and only this node will be m
26. prior to running Processing and Adjustment 4 3 Points to Be Attached Once you are able to handle the points e g if you are working with a Network Point List the Network View etc you can access the pop up menu s Attach Control Point option by right clicking on the SubNet or Solution If the points attached are chosen from the entire Network such attachment will be taken into consideration when processing and adjusting all of the SubNets that may be created after this attachment is done On the contrary for all the SubNets existing at the time this attachment is enabled their points will maintain their attachment status attached or unattached lf the points attached are chosen from a SubNet it may be a SubNet Point list Network View etc such attachment will be valid only for adjusting this particular SubNet since this SubNet s points are actually treated as the duplicates of the corresponding Network points After the user has selected points in the Point List or in the Network view and enabled the Attach Control Point option only these points are then used while attaching control data That is only these points will appear on the left hand list of the Attach Points to Control Point Items dialog window 96 4 4 Attaching Control Data to Points The attachment procedure consists of two steps selecting Control Data from the Select Control Data Lists dialog box Attaching points to Control Point Items with the he
27. time length number of measured satellites averaged PDOP receiver amp antenna info 8 3 Solution Reports Solution 1 Vector Observation Properties Report contains information about measured vectors including which occupations are associated with the given vector common observation time intersection interval for different occupations 118 total number of measurement epochs ambiguity summary contrast ratios vector length Solution 2 Vector Solution Properties Report contains information about Vector Solution total observation time all individual occupations considered ambiguities summary solution type amp code estimated vector coordinates and corresponding standard deviations Solution 3 Points Summary B pinn dat Solution 4 Vectors Summary G pinn dat These two reports are similar to SubNet 24 and SubNet 25 listed above for subnets Solution 5 Network view Landscape Solution 6 Network view Portrait These two reports are similar to SubNet 4 and SubNet 5 listed above for subnets Solution 7 Export to O file Binary Mode Report creates an Ashtech O file 8 4 SubNetXPoint Reports SubNetXPoint 1 Point Summary B pinn dat Report is similar to SubNet 24 but does with only one SubNetXPoint 8 5 SubNetXVector Reports SubNetXVector 1 Vector Summary G pinn dat Report is similar to SubNet 25 but does with only one SubNetXVector 6 6 Fan Reports Fan 1 Trajectory in Selected
28. to detect some 10 20 cm errors in geoid heights depending on the particular geometry and density of points in a local model 81 5 8 6 Using Geoid Heights In Pinnacle geoid heights are used in the following two modules e adjustment e height calculator 82 6 Processing 6 1 Description of the Process module The Process module is intended for processing measurements stored in Pinnacle s database The resulting solution is used to compute vectors and trajectories The user s final objective is to estimate coordinates for points in a network or along a trajectory The process module allows fast and accurate computation of the vectors connecting points to other points or points to known control The network is adjusted in the Network Adjustment module to produce final estimates of point coordinates Control points are used during processing Control points may be stored in the Control Data Catalog and retrieved by using the Attach Control Points menu If no control points are attached Process will automatically select some to use by criteria based on observation time and accuracy of the estimated coordinates Processing coordinates are determined by known coordinates from control or calculated using a vector connecting the point to another with known coordinates A point with known processing coordinates may be either a control point or a network point whose coordinates have been refined earlier A pair of points for which simultaneou
29. vectors and kinematic to compute trajectories C Kinematic Solution Only those occupations will be included that can be used to compute trajectories lx a E EEE 21 You can process this Solution by right clicking its node and selecting Run Process from the pop up menu The Process window will open and show you the progress of vector processing 1 3 3 Creating a SubNet Pick New Solution drag it to the SubNets panel and drop onto an empty area there A new SubNet named New SubNet or New SubNet 1 will be created A new node corresponding to this SubNet appears in the SubNets panel It has two child nodes Points and Vectors The Vectors node lists all the Vectors relating to the New Solution Points lists these Vectors endpoints These Vectors will then be forwarded to the Adjustment module which will refine adjust the Points positions To run the Adjustment right click on the SubNet node and select Run Adjustment A Network View window appears vertically split into two panels The left hand panel provides a standard Network View whereas the right hand one provides the current status of the SubNet adjustment Network View Subnet New NetworkiNew SubMNet 1 Beis E 210 ell TH al aim seles DASE i Messages H Subnet New NetworkiNew SubNet 1 Ne oe DE Subnet New NetworkSNew SubNet 1 Lor ef 45 00h eae DE Subnet New Network Wew S5ubet1 Co H lo Subnet H
30. vectors if the second approach was used Now you will have to place it in a Solution vector group since no vector can exist outside its Solution A dialog box appears and prompts for a Solution to put this vector into Solutions contains a list of all solutions where you can keep your vector s Note that for a pair of points Baseline only one baseline associated vector can be put into a Solution A Subnet can contain more than one vector for a baseline but each of them must be placed in its own Solution Since your list is empty so far press the New button to create a new Solution After the Properties for Solution dialog box appears enter the solution name and press OK Next you will see a dialog box appear in order for you to set up processing properties for the new Solution For a detailed description of this dialog box see Sections 1 3 2 and 6 6 of this Manual For now you need to choose the type of the solution Select Static Solution You can create several Solutions They will appear on the dialog box s list Select those into which you are going to put the vectors If you select more than one Solution several vectors will be created and each of these vector duplicates will go to its own solution Use the Set as default checkbox to make your current selection from the Solutions list the default selection after that you will be offered the very same 13 Solutions the next time the program prompts you to se
31. will appear BS Occupation Planning OF ES There is a tree in the work area This tree s root node corresponds to the vector Also there are two child nodes for vector endpoints in the window Each point may have several child nodes depending on the number of occupations The user can select any node in this tree All OP commands are executed for this selected node First an appropriate almanac file GPS and or GLONASS should be selected by pressing the x Almanac button The main OP window will look as follows Sea 4 OM 8 Occupation Planning s main window has the following buttons 2 4 1 1 New occupation a This button adds a new occupation for the selected point This command is available only for points This command activates the Properties for Occupation dialog box where you can create a new occupation assign it a name and define necessary Properties for 35 the Occupation You can add this new occupation either for all the vectors from the current solution or for the current vector only 2 4 1 2 Obstructions The Obstructions button opens the Obstruction window This window allows the user to edit observation sessions for sites obstructed by surrounding objects if such obstruction information is available If the user runs the Obstruction window for a specific vector he or she can only view the corresponding obstructions To edit obstructions for a point the user should open the corresponding
32. 22 Mixed Kinematic Engine 03 00 02 Mixed Static Engine 01 04 022 Static Add Properties Remove Full Path IF Bin kinema eng Default Solution Type Mixed Mited Kinematic Engine 03 00 02 Static Static Engine 01 07 022 Kinematic Kinematic Engine 03 00 01 Lancel Set Default This dialog window displays a list of all the engines applicable to the specified Solution type l the All Installed Engines option has been set in the Show box the window displays all of the installed engines For each installed engine its name version and type mixed static or kinematic are displayed Add activates a standard File Open dialog box The user can install a new engine by selecting the corresponding file Properties activates a dialog box to input necessary engine specific settings Note that such a dialog box is launched from the specified sub module and therefore is unique to each engine in the list 84 Remove deletes the selected engine from the engine list The Full Path field shows the location and name of the file representing the sub module The Default field shows default engines for each Solution type To change default settings the user should select the desired solution type in the Show field then choose an appropriate engine from the engine list and then press the Set Default button Note that these settings will then be valid throughout Pinnacle
33. 24870 6 5602219 6 2951546 4 Ams 24 01 ee Occupation SN 111 2599 8 18 30 PM 25 05 PM 395 sec 80 epochs successtully filtered ee E Nav Position 725684 9 5602042 0 2951628 9 Ams 12 99 gt Import finished 1 3 2 Creating a Solution Pick the Unexpected Session drag it to the Solutions panel and drop onto the empty area You will be presented with the dialog box to set up processing properties for the new Solution For a detailed description of this dialog box see Section 6 6 of this Manual For now you will have to choose the type of the solution select Static Solution You will see a new node named New Solution appear in the Solutions panel with the Vectors and Occupations nodes under it The Occupations node lists all the Occupations from the Unexpected Session that you have built here Data from these Occupations will be used for processing The Vectors node lists all the Vectors that can be computed using these Occupations Hew Solution Process Properties Solution Type Engine Options Solution can consist of two types of data static vectors and trajectories fang Vectors are computed based on static occupations Trajectories can be based on any type of occupations Select the Solution type you want to Oak static E Will be included and used to compute vectors Stop amp Go Solution I occupations will be included Static occupations will be used to compute
34. 6 4 Solution Types Three types of Solutions exist static such solutions contain only vectors kinematic these contain only trajectories and mixed also known as Stop amp Go these may contain both vectors and trajectories The user chooses the right Solution type when creating a new Solution Note that once chosen the solution type cannot be changed A new solution must be created using the same data to change the solution type An appropriate processing engine is selected for each Solution As a rule the default engine is chosen The name of the engine together with its version is stored in the Solution Although it is possible to change the current engine at any time the user should keep in mind that this will result in the deletion of all the preceding processing results from the database This will not affect the solutions measurements only the results 6 5 Changing the Engine To change the current engine select the Process Properties command in the Solution menu A dialog box will appear showing a list of engines applicable to the specific solution Notice that this dialog box is similar to that used in Setup Engine It provides the same functions except for changing default settings 6 6 The Engine Properties In the Process module all the engines have an easy to use interface No experience or special training is necessary for the user to manage the engines properly More experienced users may wish to obtain better
35. Edit Datum UserDet Mame METE Comment User Defined D atum Unspecified Y parameters Dies om Dry Do m Dz om Ax 7 RY fo Re fo Scale jc tis ppm Ellipsoid name WGSS4 Cancel Help Change the displayed values where required Press the OK button to update the selected datum e Delete is used to delete a selected user defined Datum e Importis used to import a Pinnacle Datum file such files have the fff extension Press this button to invoke the standard Open File dialog box You can select the desired Pinnacle Datum from the list box note that the Pinnacle installation includes the file datums ff 63 5 3 Grid Systems Press the main menu s System editor 2 button and choose the Grid System tab to e view pre defined grid systems e add edit or delete user defined grid systems Pinnacle offers a list of pre defined grid systems which can be used but not modified or removed from the database User defined grid systems can be created edited or deleted through the Grid System sheet Coordinate System and Geord editor Mal ES Comment Australian Map Grid Hew WEIN Delete Import i This window provides a list of all available grid systems these systems identifications are shown and the full name of the grid system highlighted the latter is shown in the Comment field By definition a grid system along with other features includes e its name e a comment f
36. INEs Session VSA11064t 990 Y DB CMlavads projects oddridge RINE Sessioni SN11084u 996 sa i Ly CWJavadsprojects D oddridgesFIN Es Session VSA11064u 99M vee i Ly L Wavadsprojects D oddidgesRIN EX Session SOODDUS4t 996 nie i Ly Ll avadi projects Doddridge RAINES S ession24 5010084u 990 sejit Ly Llavad projects Doddridge RINES AS e sionDOO00084t SSN Pes i Ly Ll avad projects Doddridge RINES e ionDO000084 390 paste i Ly LA davad projects Doddridge RINES ession24 Sh11084u 996 cent co Ly LA lavad projects Doddndge RINES ession2 Sh11084u 99H nes e Ly LA davad projecte Doddridge RINES ession2 Sh711084u 990 nes d Ly LA lavad projects Doddridge RINES ession2 S010084u 3996 eos a Ly Ll avad projects Doddridge RINES ession24 50 10084 99 a Ly El avad projects Doddridge RINE AS essione D000084t 996 O NB These files are not downloaded yet They are just listed as your data channels to be activated later Press the E Start button to activate these channels After a short time you will see that all the data from the scheduled files has successfully been imported and three occupations have been created As these occupations have not been planned they go into the Unexpected session If you already have a Session named Unexpected they will go into Unexpected 1 and so on You can see the green circles next to channels turn red This indicates that these channels have been di
37. Obstruction window 2 4 1 3 Almanac The Almanac button allows the user to select an almanac to be used for planning in fact the user should choose the most recent file among those with the extension jps the user should use almanac jps if there are no other files with the same extension The desired almanac can be loaded from any folder Note that you can select between GPS and or GLONASS almanacs Once the current almanac is changed all the OP data will be updated in accordance with the new almanac 2 4 1 4 Skyplot window The Skyplot button launches Skyplot View which displays the satellites paths for the selected vector or occupation node 2 4 1 5 DOPs The DOPs button is used to open the Satellite Availability and DOPs window which shows VDOP HDOP TDOP PDOP and GDOP plots for the specified observation period 2 4 1 6 Elevation Azimuth te The Elevation amp Azimuth button is used to open the Satellite Elevation and Azimuth window which gives the satellite s elevation and azimuth with respect to the selected vector occupation for the specified observation period 2 4 1 7 Visibility The Visibility button opens the Satellite Visibility window which shows the satellites visibility during the specified observation period 2 4 1 8 Earth map bd The Earth Map button enables the Earth Map Window This window displays satellites ground tracks 2 4 1 9 Report table El Report Table
38. Preliminary analysis of adjustment data or pre adjustment This stage serves two main purposes First it allows the user to check the consistency of a given GPS network as a whole Second it allows the preliminary detection of possible blunders in the vector data e Minimally constrained adjustment or vector network adjustment This adjustment is performed to evaluate the intrinsic accuracy of the GPS network One of the network points can be held fixed or an inner constraint may be used e Adjustment constrained by local control or final adjustment In this adjustment the GPS vector network is constrained by more than one local control point After this adjustment is completed the user has the coordinates of the points in the local datum 7 1 Pre adjustment Dragging one or more solutions from the Solutions panel to the Subnets panel creates a network Before an adjustment is carried out the data contained in the network needs to be checked for structure and blunders Right click on the 41 icon in the Subnets panel for a particular subnet and select Network View from the pop up menu Press the A button to activate the Test Subnet menu The same dialog window is activated by right clicking somewhere in the right hand panel of the Network View window and selecting Test Subnet The following options are available e Subnet Solution Input Data Validation When a subnet is tested the program displays an error for each enabled yet
39. The program will also update the windows SkyPlot DOPs Elevation and Azimuth World Map Windows where the button is depressed 41 2 4 8 The SkyPlot window ES SkyPlot for Vector p1 p2 OF ES ada a 6089 e la let Time 0 00 00 0 00 00 LAT 56 0 0 H LOM 37 0 0 U0 ALT FF M GMT Offset 240 min Given a vector or an occupation this window provides both graphical skyplots and numeric information time latitude longitude altitude and GMT Offset as applied to the selected vector or occupation To visualize hide the obstructions on SkyPlots use the button z3 The Grid command allows the user to switch the concentric circles ON and OFF Each satellites path on the skyplot has a unique color The user is able to enable disable satellite ID numbers with the help of the SVS Numbers ma command This is how it looks on the SkyPlot 7 G14 GPS satellite number 14 N23 GLONASS satellite number 23 The SVS Schedule 3 command allows the user to highlight the satellites positions on the paths every hour on the hour This is how it looks on the skyplot The number inside the circle indicates GMT time in whole hours The Current values ts command is used to display the satellite s current position in the skyplot see the example below mi 42 2 4 9 The Satellites availability and DOPs Window Fa Satellite Availability amp DOPs for Occupation pl 2 aa e
40. a A 121 94 11 The Vector ResidtialS Histodt Mies io a ested eee adie a ee 121 9 4 1 2 The Accuracy Vs Distance Didac a Wet 122 OA COMPares TWO SUDMCIS dias 122 IAS SAVE GS Ga LOCA GOOG isonet eat ee oo toes pee eed sd ayaa sina SoG tutte each Dc ade aes 123 TARA Par CHAIACICIISHCS ana talca 123 1 Guided Tour 1 1 Starting your work 1 1 1 Opening or creating a Project Each time you start PINNACLE M a dialog box will appear Select Project Open kinematik Browse Remove Mua Full path C Program Files PINNACLE D ata D ay 280 PINMACELE dbd Comment Cancel Help It allows you to select a Project from the list of the projects you have worked with on this computer If you run PINNACLE for the first time the list will be empty and all you can do is press New to create a new project Other options are Open to open the project selected from the list Browse to search your computer for project files not registered in your system e g when your database is on a removable disk or has just been copied to the local drive Remove to remove the selected project from the list Every time a project is created it will be added to the list Remove allows you to remove the existing projects from the list without deleting any data To open a project that has been removed use the Browse button to go to the project folder Each project is stored in its own folder Cancel closes the dialog window without
41. abled the tool uses the statistic F max s s min s s which has a Fisher distribution Note that the user must specify an appropriate confidence level before running this test Once the test has been passed the two adjusted subnets are considered consistent and of equal quality To compare two adjusted subnets follow the steps described below Use the SubNets panel of the project s main window to check the subnets you want to compare Right click either of the two subnets A popup SubNet menu will then appear Select the 2 Subnets Compare option The 2 Subnets Compare dialog window will then be opened see below Set an appropriate confidence level and check the tests you want to carry out Press the Run button Test results will then be displayed in the dialog window 120 2 Subnet Compare E Subnets compare New Sublet New Sub et 7 seen eS Test of dispersion passed The Subnets are of equal qual see D Test Inversion passed No Systematic errors Berens O Test Deviation fails Point 0924 outlier suspected Tests 95 MW Dispersion I Inversion C 99 M Deviation 9 2 User derived geoid The PINNACLE program allows the user to create a local geoid model based on the results of a network adjustment For more details see Section 5 8 4 9 3 User derived control data list The PINNACLE program allows the user to create a new control data list by using the results
42. ade No other nodes are made no matter whether these have been selected or not To understand how the second button works please notice that one of the three panels on the right hand side of the window is active i e has a frame around it The frame is the same color as all the title bars in your system s active windows This Make button conforms to the following rules 1 Make applies only to the top level nodes of the data panels SubNets Solutions Sessions 2 Once the Make button is pressed the system will make the node highlighted in the active panel If the highlighted node does not belong to the top level the Make button remains disabled 3 Ifthe highlighted node in the active panel is deselected or partially selected it will be made no matter whether the other nodes are selected or not 4 If the highlighted node in the active panel is selected the system will make this node together with all the other selected top level nodes in the same panel 5 To make a SubNet means to make all the Solutions it depends on and then adjust it 6 To make a Solution means to make all the Sessions it depends on and then to process it 7 To make a Session that has no planned Occupations means DO NOTHING 8 To make a Session that has planned Occupations means to activate the data channels scheduled with the help of the mport functions and then dispatch ALL the actual Occupations arrived So to make your New Network Network
43. ain window s System editor button and choose the Ellipsoid tab The following dialog window will be opened Coordinate System and Geoid editor i l ES Comment Ain a 63775633959999 TE 2993249645398 Men Edit e Import This window allows the user to e view pre defined ellipsoids e add edit or delete user defined ellipsoids Pinnacle installation includes a list of predefined ellipsoids which can be used but not modified or removed from the database User defined ellipsoids can be added through the Ellipsoid dialog box by means of the New button Only user defined ellipsoids may be edited or deleted The Coordinate System and Geoid editor window provides basic information about the selected ellipsoid namely its semi major axis and reciprocal flattening 1 f preceded by a comment The user can either choose an ellipsoid from the list box in order to view or edit its parameters or create a new one Only user defined ellipsoids can be edited The following buttons are used in this window 60 e New This button is used to create a new Ellipsoid Ellipsoid New lx Mame Commen 0 i 298 25722356300 ay Cancel Help Enter the ellipsoid name in the Name field and modify the values of a and 1 f if required the WGS84 constants are used by default Press the OK button to add this new ellipsoid to the existing list e Edit This button is used to edit a user defined ellipsoid Mame ME l
44. ained adjustment only after the pre adjustment and the minimally constrained adjustment has been successfully completed The constrained adjustment stage finalizes the initial stages described above The following is a detailed description of the constrained adjustment stage 7 3 1 Selecting Control Points for Adjustment To select control points for an adjustment open the subnet menu and choose the Attach control point option The Select control data lists window will be opened which shows the control data lists available in the system Select Control Data Lists x El NetworkControl Projectcontrol Coordinate Type Filter 4 iY Geodetic W Grid W Cartesian Cancel Help 107 Note that control data lists located in the project root are marked with red circles Those belonging to individual networks are marked with blue cubes The Coordinate Type Filter allows the user to disable unnecessary coordinate types when displaying control data After the desired lists have been selected the Attach points to Control Point Items window will be opened see below This window allows the user to attach control data to a GPS network even if some GPS survey points and their related control stations have different names The Points to attach list shows the names of the GPS subnet s points The Control point items list shows the control selected for the survey area recall that the program displays only the control da
45. and the region of interest by using the zoom buttons and scrollbars The earth map and the coordinate grid will help you locate the data more accurately For reference the coordinates of the cursor location are displayed in this window s status bar If you do not see the map use the y Load Map and Cad Map on off buttons 2 1 2 Input of Control Points lf control data has been specified and stored in the project s database these control points can be displayed in this project s Network View window Once such control is displayed the planning of additional survey points usually goes more smoothly and their locations in the Network View window can be drawn more accurately See Section 4 1 2 for importing control data In the Network View window press the Select rectangle to add points from catalog button The cursor will change its shape to y Depress the left mouse button while dragging a rectangle that overlays your network area Release the button when finished You will be presented with a set of Control Data Lists available for your Network Select the List you need and press OK You will see a list of Control Items that are located in the selected rectangle 20 Create points from Control Data Hems in delmed borders Selected ems Coordinate Sys Name Conirol Pairi Na Control Data List 9 50111 DODDRIDGE Nang oda DODORIDGE DODORIDEE 50 100 DODDRIOGE Mans 50 101 50 101 DODORIDGE SH 171 DODDRIDGE Hangs
46. ane and or vertical if you have attached any control to your network e baselines with multiple vectors e number of points occupied more then once e number of control points occupied more then once e isolated points vectors or parts of the network e single ended vectors The statistics may be used to check a designed planned network against existing standards e g NGS requirements before the user starts building a real network 47 After having planned the occupations the following information may also be obtained e points for which no observations have been planned e vectors which haven t been provided with the planned occupations When planning occupations for specific receivers at specific points you may check if there are receivers that have been planned to be used at different points at the same time To check if such conflicts exist just switch from the Occupation vs Points to the Occupation vs Receivers window The Point vs observation time and Receiver vs observation time diagrams can be first printed in order for the field operators to use these during the survey Also for each planned occupation the GPS Observation Log sheets may be printed showing the station ID and start end observation times see Section 2 4 After finishing field operations and loading collected information into the project DataBase the correspondence between the real and planned observati
47. annih ide gt 4 G20 1211024 33401 5 The Earth Map window is available for vectors points and occupations The Earth Map window contains Control Bar Status Bar XY Graph and the Map of the Earth On the XY Graph X coordinates stand for Longitude and Y coordinates for Latitude The Control Bar contains the buttons shared by all OP windows 2 4 12 1 Load map from file Loads a map from a file 2 4 12 2 Show map M This window provides the following plots Earth Map o Endpoints of the current vector o Satellite trajectories o Satellites positions at the current time The user can enable or disable these plots by using the Legend window Status Bar If you move your cursor onto a point of trajectory on the map you will see the identification of the corresponding satellite the names of GPS and GLONASS satellites begin with the letters G and R respectively 45 2 4 13 Report Table Azimuth Me ES Date Delta Time Latitude Longitude Height 14 08 98 Bo 265959N 00w 0 m C Local Time GMT ra Help Close TIME UT G1 G2 G3 G4 G5 GE Lf Go 3 F 00 00 00 31897 oso po maa 0200 00 28395 02 30 00 25411 030000 230 A os E This window allows the user to view and print the following tables e satellite Azimuth degrees e satellite Elevation degrees e satellite Azimuth and Elevation e satellites DOPs and Availability e satellite Latitude e satel
48. ation period e number of measured epochs e satellite s elevations at occupation start and end times and the peak elevation for the entire occupation period 92 When calculating these parameters the engine takes into account the time restrictions from the Timing sheet lf a satellite has n visibility periods over the entire occupation as is the case for very long sessions it would have n separate icons on the sheet Also if a satellite has no ephemeris or if its ephemeris is marked as unhealthy then the last column will contain some additional data to inform the user about the problem Timing Satellites STOP Occupation Parameters al ES Eme Tinea Sessa Src 6 9 Run Process 3 01 45 9 10 35 A 41 50 E 0 4 AR 4635 42 20 11 37 45 12 05 05 9 14 35 12 28 30 12 28 30 0 46 35 9 03 35 02 36 00 03 54 30 01 32 45 00 00 35 041335 00 58 00 01 21 15 Process can be invoked in the following ways 16 29 1 06 38 0 39 13 Da 09 68 13 06 48 07 d lf you need to calculate all the Vectors and Fans included in the given Solution select the Run Process command from the Solution menu lf you need to process only those Vectors that have not yet been processed or have been updated since they were last processed then press the Make button in the Tool Bar menu lf you need to process a single Vector select the Process Vector option from the Vector menu All of the com
49. atum e Select None from the Geoid list box this indicates that no geoid data will be used for network adjustment e Inthe Constraints group select Inner constraints Use the Disable rejected vectors checkbox to define the status of vectors rejected in the course of adjustment If this checkbox is checked then for the given subnet all the vectors rejected in the current adjustment iteration will be set to disabled and therefore will not be used in all the following iterations Unless their status is manually changed from disabled to enabled This is done by right clicking on the desired vectors in the subnet s view and toggling their status Note that once a rejected vector is disabled due to the Disable rejected vectors checkbox the user will not be able to switch this vector s status in the succeeding iterations back to enabled merely by unchecking this checkbox General Parameters Advanced hake dependencies Dita source Adicta rada Comidarese Level for Blunder detection utomalic wth Blunders Recing i 36 C Hy Automatic with Blunders Downureighting l i Iricracivo Daea Blunders n z HEU vz m Transtomabon Type i Nene Constraints Geocentne 7 inner Consi arts Local Feed Fons 2 C Weighted Ports Translation Rolo i Moved Feed and Weighted ele jm E em eee eee eee oii I IE mu E aan lge Other System Datum pue
50. bstitute for the planned ones see Chapter 3 of this manual lt must be emphasized here that if the actual occupation time does not match the planned time the latter will not be replaced with actual data unless you force the Dispatcher to disregard the planned time To do this press the Setup button go to the Dispatcher tab of the dialog box appeared and uncheck the Occupation times must match checkbox You are all set now Press the ES Save button to save your schedule and close the Import window 1 2 5 Make You have just created an errand for PINNACLE to perform You have created a SubNet to be adjusted set up the points whose coordinates will be determined later and the baselines which will serve as input data for the adjustment routine You associated these baselines with appropriate vectors by putting the latter into the Solutions then you determined necessary occupations for each of the vectors thus providing the processing module with incoming raw data Also you associated the vector occupations with the corresponding Session occupations Finally you established data channels to retrieve raw data These associations allow PINNACLE to determine the dependencies between the data The associations are also used to determine what data is needed to complete various tasks Adjusting a SubNet is an example of one of these tasks We call these associations Make Dependencies The Maker feature of PINNACLE is now able to do this
51. ccuracy vs Distance diagram shows rms errors for the pairs of the subnet s points versus the distances An Accuracy vs Distance diagram can be drawn for Northing Easting and Height Up All three types are included in the SubNet 15 report An example diagram is shown below Delta Northing Accuracy vs Distance ACCUIACY rim 10 9 4 2 Compare Two Subnets This command is used to compare two Subnets including the same physical points There are three statistical tests Inversion Deviation and Dispersion that the user can run for the adjusted data It is not necessary to perform all three tests at one time the user can select and carry out only those of interest 122 Compare is a statistical tool whose results depend on the selected confidence level 9 4 3 Save as a Local Geoid This command allows the user to save the SubNet points for which both orthometric and ellipsoidal heights are known as a local geoid model see Section 5 8 4 9 4 4 Pair Characteristics This command is used for a pair of points of the adjusted Subnet to obtain information about their relative position Note that such a pair of points is not necessarily associated with the GPS measured vector connecting these points The output data are the points differential positions and the corresponding rms errors in the XYZ NEU Latitude Longitude Height or Distance Azimuth Elevation systems An example Pair Characteristics dialog box is shown bel
52. change the status of all the remaining tasks from Waiting to Ready in other words this will halt Process completely ala Pause Process Resume Process This is to stop continue the execution of the current task a Status Window This is used to activate the Engine State dialog box 94 Pad Delete task Deletes selected task from the queue ty Options Activates the Process window s parameters dialog box Process Options Uptions T Show Engine Status Window Troubleshooting C None Show Residuals Plots C Force Scientific Mode Cancel The Process Options dialog box allows the user to manage the Process window Show Engine Status Window this is used to enable the Engine Status window Troubleshooting this often helps when the user is having difficulty with processing problem data None this specifies regular mode Show Residuals Plots when data processing is over the corresponding residual plots will be displayed Force Scientific Mode this allows the user to track intermediate results residuals etc throughout the entire processing cycle To visualize the course of vector processing a corresponding indicator is displayed at the bottom of the window Additional information is presented in the Engine Status window Engine warnings error messages and intermediate processing results are displayed in the Process window 6 10 Vector Result The results o
53. cked all possible pairs of control points will be examined Note that when the Break on bad results box is checked the constrained adjustment will not be started until the accuracy achieved meets the specified tolerances 109 Having set the desired tolerances open the Network View window and press the A button Then select the Test Subnet menu s Control Tie Analysis option Test results are shown in a message displayed in the right side of the Network View window lf the test falls the message displayed is marked with a red circle In order to detect bad data more effectively the user can force the program to generate a vector traverse for an arbitrary pair of control points To mark off the vectors for the traverse click on the necessary vectors while holding down the left SHIFT key In the Network View window this traverse will be highlighted in a dark color Then press the f button and select the Test selected option In the next step select the Control Tie Analysis option The Network selection options dialog window is opened checks the Add vector ends checkbox Finally press the OK button to start the control tie analysis for the selected traverse 7 3 4 Setting the Adjustment Parameters Open the Subnet s context menu and select Properties The Properties for Subnet window will open Choose the Parameters tab and a dialog window featuring the adjustment parameters will open see Section 7 2 Specify which adjustment mode
54. d the point and the corresponding Control Point Item to the Attached points list Select a Control point item by left clicking on the distance The Detach button allows the user to disable the attachment 98 5 Coordinate Transformations and Geoid Models Coordinate transformations are applied to the following three types of coordinates 1 3 D Cartesian coordinates 2 Geographic Latitude Longitude Ellipsoid Height 3 Grid also Known as Plane The first two types are based on the use of the datum selected A grid system is based on the use of an appropriate datum projection and zone Pinnacle allows the user to apply transformations to any of the coordinate types listed above To start the system editor press the System editor ie button in the main window Coordinate System and Geoid editor Aa ES l E iipsaid Datum Grid systeme Units Geoids Comment jay a Jear7pp3 3959999 0 st s 17 LIA Ss Mew Edit re Import This window allows the user to e view pre defined ellipsoids datums grid systems linear units of measurement and geoids e add edit delete user defined ellipsoids datums grid systems linear units of measurement and geoids The built in Pinnacle Coordinate Transformation Library is used for several tasks The tools 99 o id Calculator e Table calculator allow the user to transform coordinates for a single point or a list of points 5 1 Ellipsoids Press the m
55. e SNAP adjustment package NGS precise orbit files SP3 format only Note that after the file s content has been successfully imported into the project database the user may remove this original file from processing 92 3 5 Occupation Filtering After data importing via the activated channels is over the preprocessing of the imported raw data starts For each occupation and for each measurement epoch Pinnacle retrieves the so called point solutions receiver s absolute coordinates Also Pinnacle checks at this stage whether the project database contains adequate ephemeris information and enough satellite measurements etc For example should an occupation lack the antenna height setting there will be a warning generated and written into the log file Note that unlike Ashtech B files RINEX observation files do not contain point solutions at all To make up for this the preprocessing module RawFilt computes point solutions on its own using the raw measurements and ephemeris from the RINEX observation and navigation files respectively All these coordinate estimates are then stored into the project database The user should keep in mind that when inputting occupations their data is first forwarded to a special Session named _Import If successfully filtered this data is then put either into the planned sessions see Section 2 3 or the predefined sessions named Unexpected If there is a session with this name already th
56. e desired Pinnacle Units File from the list box note that Pinnacle installation includes the file units jff 5 5 Coordinate Calculator 1 Coordinate Calculator is used to transform a point s coordinates from one coordinate system to another To activate Coordinate Calculator press the main menu s id button The Calculator window will be opened then Choose the Calculator tab to start Coordinate Calculator Calculator Aa E Calculator Height Calculator ie N I H bi pe la 3 aes Northing 446162 769441 gt e E 1 I A Longitude E ho 31 SS gre Easting 618653 779862 Height i Height E System type Spstem datum WG cod system datum UTMN Zone Zone Zone_32 BE to 12E The Calculator dialog window comprises two equivalent panels One of these is associated with the input coordinate system From the other with the output coordinate system To 70 To transtorm coordinates go to either panel and select the desired coordinate type 3D Cartesian XYZ Geodetic BLH or Grid Then choose the desired input coordinate system and zone for grid coordinates from the SystemiDatum and Zone list boxes respectively Then enter the coordinates in the corresponding data fields Note that the default coordinate system is WGS84 Therefore if the local datum is selected after the coordinates have been entered the latter will be automatically updated Similarly in the other pane
57. e name Unexpected n is used then where n stands for an integer 1 2 If the preprocessing of an occupation fails this occupation s data remains in Import and the user will not be able to pass this data on to another session or a solution Further once a new import iteration starts Pinnacle will try and preprocess all the problem occupations again It makes sense since newly arrived data can well make a new preprocessing run go smoothly For example some previous preprocessing steps might have been unsuccessful due to the lack of ephemeris but once such missing ephemeris data has been imported the next preprocessing run is going to be a success 3 6 Import Setup Press va Setup button in Import window The following dialog appears Import setup El General Dispatcher l Retry period i a Cache folder cache OO Fetch application InetFetchiw exe OF Lancel Help 93 4 Control Data Lists Control Data Lists contain the coordinates of control points used for Processing and SubNet Adjustment The Control Data Lists can be accessed either from the Project root or from Networks Control Data located in the Project root are accessible for all Networks in the given Project Control Data assigned to a Network are accessible only from this particular Network Control Data Lists contain Control Points positions together with their names and attributes A Control Point may consist of one or more Con
58. e the cursor is close enough to any of the horizontal lines corresponding to the planned points When moving the cursor its location on the time axis is displayed in the window s Status Bar Press the left mouse button when the cursor points to the desired start point and then drag the cursor towards the end point of the planned occupation while holding down the mouse button The occupation s time interval will be displayed in the window s Status Bar Note An occupation s time interval can be specified either forward from the start point to the end point or backward from the end point to the start point Once the mouse button is released the Properties for Occupations dialog box will appear 32 Propedies for Occupation DODDRAIDGE Antenna Sessions Coordinates Data source General Receiver Observationtine Hame DODDRIDGE DODORIDGE This dialog box is used to input the following occupation information e occupation name by default this coincides with the point name e exact start end times for the given occupation e receiver type its serial number and other relevant information about the receiver to be used for the planned occupation e antenna serial number Once the Properties for Occupations dialog box is closed to do this press the OK button a Place Occupation in Session dialog box will be started automatically This dialog will allow you to assign the planned occupat
59. e user with an extensive set of tools to effectively plan field occupations For detailed information on this module refer to the Occupation Planning section of this Manual For the purposes of this tour we will use a different approach allowing the user to make do without any pre field analysis Right click on a Solution node in the Solutions panel and select Occupation view from the pop up menu Along the vertical axis you will see the endpoints of the vectors from your Solutions Time is shown along the horizontal axis You may want to properly adjust the time axis set the desired scale and range by using the zoom buttons and scroll bars If you have difficulty doing this just maintain the existing settings As soon as an occupation is created you will be able to change the planned occupation time using the digital controls and then update the axis view at the click of the XK Fit into Window button To create new Occupations press the ee Plan occupation button This will switch the window to Occupation planning mode To switch off this mode press the button once 14 again Cursor shape changes to N once the cursor is moved close enough to any of the horizontal lines corresponding to the points Click the mouse when the cursor is at the right location opposite the desired point and at the desired start time and then drag the cursor to the end time of the planned occupation while holding down the mouse button A dialog box app
60. each sheet are described below 6 8 1 The Timing sheet This sheet allows the user to change an occupation s start and end times and to set the Epoch Gap parameter The Epoch Gap parameters associated with measurement decimation The Default Parameters column shows the initial occupation parameters whereas the Parameters in Use column displays the user specified updated values The latter values are used for processing the corresponding occupation STOP Occupation Parameters i l ES Default Parameters Parameters in Use Uccupation Stark 04 12 98 14 37 55 04 12 38 14 37 55 Decupation End 04 12 98 14 38 50 04 12 38 14 38 50 Occupation Spar 00 00 55 ZEC 00 00 55 ZEC Epoch Interval 00 00 05 ZEC 00 0005 ZEC Number of E poche Ee fiz Start E poch li Stop Epoch 1 2 Epoch Gap li Cancel Occupation Start is the start time of the occupation Occupation End is the end time of the occupation Occupation Span is the duration of the occupation Epoch Interval is the interval between adjacent measurement times Number of Epochs is the number of epochs within the occupation period Note that if some of the measurements are missing within the occupation then the Number of Epochs may be calculated incorrectly Start Epoch is the first used epoch counting from the start of the occupation Stop Epoch is the last used epoch counting from the start of the occupation Epoch Gap
61. ears in which you can change this Occupation s properties including its name and time note that the Occupation s default name coincides with its Point s name Properties for Occupation 5N 111 ES Properties for Occupation SN 111 El Antenna Sessions Coordinates Data source Antenna Sessions Coordinates Data source General Receiver Observationtime General Receiver f Observation time Name 5 11 start Date 1999 March E statTime p Mo ap sah 4 End Date 1995 March 25 Endtime j4 ap aap aab O Kinematic Comment Observer Agency Never stop waiting Cancel Help Cancel Help A detailed description of the data fields in this dialog box can be found in Sections 2 3 and 2 4 of this Manual For our introductory tour the Never stop waiting checkbox is of special importance If this box IS NOT checked then when actual data arrives and is sent to the appropriate program units all planned occupations are replaced with actual data hereinafter referred to as an actual occupation If the actual data is found inadequate it is ignored If the Never stop waiting checkbox IS checked then the planned occupation will continue to wait for additional data A planned occupation can receive data from more than one actual occupation For example a receiver that collects data for four hours a day and a planned occupation that is going to use several of the four hour occupations For additional d
62. ed for shorter baselines e L1 Only Processing single frequency measurements this is standard when using single frequency receivers 8 7 e L2 Only Processing L2 measurements only this is mainly used for research purposes e Lic Processing dual frequency measurements collected on longer baselines An ionosphere free combination is formulated and processed but integer biases are not fixed This is also known as a float solution e 1 L2 Processing a wide lane combination e L1i L2 Processing a narrow lane combination this is mainly used for research purposes e L1 amp L2c Most powerful processing including both integer ambiguity resolution and formulation of an ionosphere free combination This is often considered the principal technique for processing dual frequency measurements e VLBL this is to process very long baselines Nav System This allows the desired constellation to be chosen GPS GLONASS or both Elevation Mask This specifies an elevation cut off angle in degrees for satellites used in data processing Min Measurements This specifies the minimum percentage of measurements required for the corresponding observables to be used in the course of processing Max Iteration Maximum number of iterations allowed for the process to converge Measurement Tolerance This specifies an outlier rejection threshold in units of sigma Convergence This spec
63. eee soc estes oe ueendnn enn wae oem seme useenane teu neavods 83 6 1 DESCRIPTION OF THE PROCESS MODULE siswiecsavesasnctvews cd 83 6 2 ENGINES ria iia 83 0 0 SETUP ENGINE ia iia 84 6 4 SOLUTION TY PES cari casal tad tddi 85 6 5 CHANGING THE ENGINE serscsechavars sas vessceudai tritio a aE AEE EA drid and 85 6 6 THE ENGINE PROPERTIES ici E S 85 6 6 1 The Solution Process Properties 1 c cccscccccsconssecccscossecrccscanseseccscensentscnecnseetecccabeesssarcaneesreaees 85 6 6 2 The Vector Process PIODCHICS otto ees 86 6 7 THE ENGINE PROPERTIES DIALOG BOX aa 87 O7 ohe MODO SHOCL eroe e a a e e e ea a 87 Oc MS GRS S NOO aee ae a ch aca as a antec e es gate a da eee eee 89 643495 THE GEONASS SIC Cig a ea bh acct ine eden heats nce td dae ac ate ee 89 0 4 THE AON ANCE SCC lt ii oe cease pa ean tad a ees 90 6 6 THE OCCUPATION PROPERTIES 91 6 8 1 THE ASIII SINC a iv a 91 6 02 THE Sate ICS SINS CE tia a ii deb ii ees 92 6 9 RUN PROCESS naiai a e iaa 93 6 10 VECTOR RESULT iisa aa 95 Network aQJUsTMeEN Taco iio 98 FA PRE ADJUSTMENT ni sausuiewucauae btuetsesveuedeRaasaeiionens 98 7 1 1 The Loop Misclosure and Repeated Vectors tab ooooococccccccocccccccccncccnnnnannnononncononanancnnnnnnnnonanos 99 PA Ve INCL SUUCIUIE TOS tds 101 LALO VAG NEIWOIK VIEW tocas 102 7 1 4 The Network Selection options taD ccccoocoonccnccccconnoonccononononoononnnnnnononannnnononnannnnnnnnnannnnnnnnnos 103 LA TAC COTO TEARS TI o dr O oO 104 7 2
64. eferences Separate Networks may be for independently created parts of a network whereas Subnets may be for planned field data collection sessions for example one for each day To create a subnet open Networks by double clicking the corresponding node in the tree or by selecting Open in the pop up menu The ial Open Network button may also be used Three panels Subnets Solutions and Raw Data Sessions will appear on the right of the Project tree Networks tree panel Right click the leftmost panel Subnets and select New Subnet from the pop up menu A new subnet will be created You can name subnets and networks according to your preferences To input locations for your survey points right click on the Subnet node and select the Network View item in the pop up menu The Network View window will be opened Below you can see an example Network View window where both newly specified and control points have been input note that your Pinnacle Sample Data Directory provides you with all information necessary for planning processing and adjusting this example subnet 24 Network Planning Subnet New Hetwork New SubMet Aaa El Sic a m jm E Leora a SHIT A DODDAIDGE a 2P 100 el 27447 00 4 gr 2219 TAASTEN In the following sections you will see how these points both control and non control ones can be added to this example subnet When constructing your subnet you can modify the map scale
65. election options tab Network Yiew Options The purpose of the Vector s endpoint is not selected radio button group is as follows Since vectors and points are selected independently a selected vector may well have an unselected endpoint To resolve this condition the user must either exclude each of such problem vectors thus removing them from testing or conversely treat such vectors as if their endpoints are selected thus including the vectors in testing 103 7 1 5 The Control Tie Analysis tab Network View Options Loop Misclosure and Repeated Vectors Network Mier Network Selection options Network Structure Test Non trivial vector set constructor Control Tie Analysis Show all results e Break on bad results e Horzontal m 11 a Horizontal PFM i e Yerticallmi 11 a Vertical PPM i e Show misclosure average M Show misclosure maximum e The Break on bad results check box indicates how the program behaves if the Control Tie Analysis test fails If this box is checked and the test fails to meet the specified tolerances the program will interrupt further adjustment If this box is NOT checked the program will continue even if the test is not passed e Show All Results Show Misclosure Maximum Show Misclosure Average see the description of the analogous checkboxes in section 7 1 1 e The edit boxes a vertical e vertical and a horizontal e horizontal are
66. ellipsoid from the left hand panel to the right hand 71 panel this value will be updated since the local datum s parameters may differ from those of the WGS84 Geoid height also referred to as geoid separation is computed by using the geoid model selected in the Geoid Model list box To derive the geoid separation for a point the user should first specify the point s coordinates in the left hand panel and then press the gt gt button After that the user should open the Geoid Model list box which enumerates all of the geoid models available for the area where the given point is located Once an appropriate model is chosen the geoid height corresponding to this point will be computed and displayed in the Geoid height field The Calc buttons are used to calculate any of the three interrelated height values when the other two values are known For example if both the ellipsoidal height and geoid separation are specified in the El height WGS84 and Geoid height data fields the orthometric height can be computed at the click of the Calc button closest to the Ort height field 5 7 Table Calculator Press the main menu s amp button to activate Table Calculator The following window will be opened PINNACLE AE Project Window Help Dje Moe Sa Fe re eG e ee co TO 1 2 p 44 o000 0 jo 3 La DO E eae Given a point the user should enter its coordinates in the correspond
67. ese commands are also available in the main window s Project pull down menu Sector Create a new project directory called Tour using r the Create Dir button rectory c avadprojects stour ES ca Uk gt Javad gt projects Lancel Ea Tour Help EI Mame Tour Opes Coordinator J M Maismith Agency J awad Positioning Systems Processing 4gency Code Comment Guided Tour E c gt Network After you have selected the desired directory and pressed OK a dialog box will be enabled for you to set or modify El the Project properties This dialog DOX Created March 26 1999 3 33 21 am comprises the following data fields Lost cheer Project Name the only mandatory field Coordinator name of the person responsible for this project Agency your companys name Processing Agency Code 6 digit code assigned to your agency by the NGS This information is used in PINNACLE reports if required by the corresponding report form Comment any additional information about your project Maximum string lengths for these fields are as follows Total time open Oh Om Os Cancel Help 8 Name 20 Coordinator 60 Agency 60 Processing Agency 6 Code Comment 80 Unlike the other data in the table above Processing Agency Code is stored in the PINNACLE ini configuration file not in the Project database In fact it is not a Project attribute rather it is an attribute of the comp
68. est lf the user finds the resulting residuals small enough the transformation parameters calculated may be added to the list of the datum parameters For this use the Ef Save datum button After pressing the button a dialog window appears and prompts the user to enter the datum name and a comment Datum BE Name MewD atum Comment calculated F parameters Cancel Help It is possible to add a new datum or update any of the existing user defined datums In the latter case a detailed comment is recommended The user can then employ the new datum parameters for transforming the rest of the points in the longer list For this return to the Table Calculator window and replace the target coordinate system with the newly defined datum 5 8 Geoid Models Pinnacle provides a number of Geoid models They are included in the Geoid Model list 19 5 8 1 The Geoid Models List Geoid model ype Regional Minimum latitude A Maximum latitude A Minimum longitude anrogooo a Maximum longitude A Comment GEOID EXTRACTED REGION GEUGRD JGEDID EXTRACTED REGION GEOGRE 0 GEOID EXTRACTED REGION GEOGRE 1 GEOID EXTRACTED REGION GEOGRO 2 GEOID EXTRACTED REGION GEOGRO 3 JGEDID EXTRACTED REGION GEOGRO 4 A Global Geoid Local E dit Delete Import Export To view or edit the Geoid Models list press the Geoids tab from the Coordinate System and Geoid editor window The li
69. etails on how planned occupations wait on the actual data see Chapter 3 of the manual Note that if a point already has some occupations planned you will not be able to drag a new Occupation over the existing ones Naturally two occupations relating to the same point can never overlap in time Occupations that don t go with the Solution you are planning will not be displayed unless you have pressed the Y Show whole Network button Create occupations for SN 110 DODDRIDGE and SN 111 and put them into a new session called Sessioni As was the case for Vectors no Occupation can reside outside an occupation group or Session Like you selected Solutions to put Vectors into you will have to select Sessions for Occupations However Occupations have no limitations regarding their grouping a Session can contain any set of Occupations 15 whichever point they belong to So you create one or more new Sessions and put the occupations into them Occupations vs Points Solution Hew Network solution alalelxl ojo sale FL E SAA ois ee de oe dedo dl PODDRIDGE ARAS DH GIB ss IS 220239 2 10 00 4M 320799 3 00 00 4M Time 4 372999 4 06 25 AM Now the system is ready to accept raw data and process it The last step that is required from you is to tell PINNACLE where it should get the data 1 2 4 Establishing Data Channels In the leftmost panel of the Project Window right click on your Network s node a
70. ew Metwork New Sube Au 27447 0N PELA Longitude If you skipped the Full Planning Method then SN 111 will not be fixed Import the control data as listed above Right click on the New SubNet node and choose Attach Control Point Choose the control data list name corresponding to the list that you imported and press OK Select SN 111 from the upper left window The control points in the right hand panel will be sorted according to distance to SN 111 The top point should be SN 111 select it and press Attach and then Close 22 Attach points to Control Point Items Ma E Points to attach Control point Items Coor DODDRIDGE 513 111 1032 1 DODDRIDGE HGS MADE 50 10 1061 9 53 110 HGS HADE 1553 3 VISTS amp 1933 AM NGS HADE 1577 6 51 100 HGS MADE 16294 VISTA 1333 HGS MADE SN 121 HGS HADET Height Fixed Weighted Plane f Fixed Weighted Attach Mixed None Right click on the New SubNet node and choose Run Adjustment When the adjustment is complete close the Network View window To view and or export the coordinates of the points right click on the New SubNet node and choose Report Select the Adjusted Point Coordinates in Selected System and press Run Default Reports for SubNet a E Job List Kode C Mixed C None Network Adjustment Summary HTML Adjusted Point Coordinates Adjusted Point Coordinates in Selected System Network Mew Portra
71. f vector processing can be seen from the multi sheet Vector Result dialog box This is activated from the Vector menu In order for the user to effectively compare different vector results with each other several dialog boxes can be handled simultaneously The first sheet shows the Vector Estimate s components in a Cartesian coordinate system X Y Z and the Vector Estimate s covariance matrix 95 New Solution 0005 gt 0004 Vector Rezult Vector Estimate P 3 4375 m lige 5 7128 m a 8 6752 m The second sheet shows the Vector Estimate components in a local coordinate system JENU AzElDist Statistics Elipsoid Base Length li 09413 mi Arnis total 2 4 mm Vector Estimate Errors Amex 1 3 mm xr 0 51441 Ama r li mm ae 0 5971 Ams Z li 5 mm Y 0 5069 E N U and the estimate s covariance matrix New Solution 0005 gt 0004 Vector Result Vector Estimate East 11m Morth jim Up 320cm Length pastam The third sheet shows the Vector Estimate components in the topocentric coordinate system azimuth elevation distance and the corresponding RMS values Vector Estimate Azimuth 11 79 2457 Elevation li o os Aime E 37 087 2 0 mm Distance 10 9413 m Ama D fag mm Az ElDist Statistics Elipsoid Base Vector Estimate Errors Aims E 0 3 mm E N 0 03772 Ame N 0 9 mm E U 0 15038 Ams U 20mm NU 0 1809 Aims H li 3
72. for ector Start Date hss April fio S Local Start Time Ea T E fo fo a Weel The Start Date and the Local Start Time edit fields show the beginning of the observation period Start Date year month day Local Start Time hour minutes a day means that the planning covers a 24 hour period 2 4 3 Time Date Editor for occupation The user is able to define view the desired occupation period on the 24 hour scale bar Apply button If the user has changed the occupation time clicking this button will result in updating all of the windows associated with this occupation 37 There are three tab controls in this dialog box The user may switch between the following dialog box s pages Time Date Special Time Zone 2 4 3 1 Time Date tab Local Time D ate Editor for Occupation pl 2 A ii O e 5 lt 2 9 4 04 MA be a I0 II T2 13 14 15 16 17 1e 19 20 2 22 23 24 Date Local Start Time Local End Time al ar rara rara Apply There are three active fields in the Local Time Data Editor for Occupation _Time Date Special Time one Date year month day Local Start Time hours minutes Local End Time hours minutes 2 4 3 2 Special tab Local Time D ate Editor for Occupation pl 2 in 3 R 5 5 755 59 2 O 1 2 3 4 5 6 7 8 39 1011 12 13 14 15 16 17 18 19 20 21 22 23 24 E Week Week Dar Day Humber Julian Day Special Time Zone Apply There are four pas
73. geoid heights when adjusting the data Note that the None option may be used with good results only when the given survey area Is fairly small and the geoid is assumed flat over this area In the Transformation Type group the user specifies which transformation parameters if any will be estimated in the course of adjustment a transformation between the WGS84 datum and the local datum specified in SystemiDatum is meant here If None is selected no transformation parameters are estimated If the user chooses Geocentric or Local four transformation parameters a scale factor and three rotation angles are determined If the Geocentric radio button is used the rotation angles are 110 determined with respect to the XYZ ECEF system s axes lf the Local radio button is used the rotation angles are determined relative to the local system s NEU axes Once either Geocentric or Local is selected the Rotation group s checkboxes which are associated with the rotation angles and scale factor will become accessible By using these checkboxes the user may define a desired combination of transformation parameters to be estimated in the course of adjustment note that these parameters will be treated as additional unknowns when adjusting data In case there is not enough control data to determine the checked transformation parameters the adjustment will stop and a warning message will be displayed To fine tune the adjustment process press
74. groups the user may fix or weight a control point s plane or height components If Fixed is selected the point s coordinate s will be treated as fixed when performing a constrained adjustment If Weighted is selected control data will be weighted according to the RMS error specified see the Properties for Item of Control Point window If the user chooses Mixed control data will be treated as either fixed or weighted depending on the adjustment type selected see below If the user selects None the corresponding control data will not be used in the adjustment After defining the control data status press the Attach button The associated pair GPS survey point control point will be saved to the project s database In the Attach points to control point items window this pair will be moved down to the Attached points box The corresponding GPS point will be marked in the Network view with a blue triangle for horizontal control and or with a blue square for vertical control Additional control may be attached to survey points in the same manner The upper half of the Attach points to control point items window will maintain only those survey points that either do not have appropriate control or for some reason have not been attached to the control data available The status of the attached control data may be changed for example to change Fixed to Weighted or to detach points To do this choose the desired point from the A
75. hed editing erroneous data the program starts another adjustment iteration and a new Point blunders dialog window is displayed The user may also have the iterative process stop by selecting either of the Auto with rejecting and Auto with downweighting radio buttons from the Mode for Next Iteration group When the constrained adjustment is over the program will display a message adjustment summary in Network View s analysis window Detailed information on the adjustment results can be found in the corresponding adjustment report The report may be obtained by opening the Subnet menu and selecting Report see Chapter 8 7 4 Adjustment results The following data is available when a subnet adjustment is over e pre adjustment results e adjustment results 112 7 4 1 Pre adjustment This information comprises the Net structure test Loop Misclosure and Repeated Vectors and Control Tie Analysis results displayed in the Analysis window These results are accessible as long as this window remains open Note that the pre adjustment results can also be saved to a file e g a text file This can be done by right clicking on the node of interest for example Testing repeated vectors in the Analysis window and selecting Save to file from the pop up menu 7 4 2 Adjustment This information comprises brief results diagrams adjusted baselines adjusted network statistics and reports 7 4 2 1 Brief results Brief resu
76. his indicates the limit on the number of vectors in the loops to be tested If the number of vectors in a loop exceeds this threshold value this loop is excluded from the test e Maximum loop length in km lf a loop is too long that is if the total length of all the vectors in the loop exceeds the specified limit the loop is excluded from the test e Maximum percentage of non closed vectors l the actual percentage of untested vectors aS compared to the total number of vectors exceeds this limit the test is considered unsuccessful e Maximum percentage of points not in loops l the actual percentage of non loop points a point is called non oop if it is not contained in any loop exceeds this limit the test is considered unsuccessful e The checkboxes Show XYZ Misclosure components and Show NEU Misclosure components allows the user to choose the desired coordinate system s to compute and view the misclosures e The checkboxes Show Misclosure Maximum and Show Misclosure Average allows the user to display the maximum and average values of the computed misclosures 100 7 1 2 The Net Structure Test tab Network View Options x Loop Misclosure and Repeated Vectors Non tivial vector set constructor Control Tie Analysis e Test for bridges e Test for junction points M Test for single ended vectors Min of baselines with repeated vectors Min of stations with 2 occupations oo g g Min 2 of no
77. i C C Comment User defined elipsoid 14 298 25722356300 Cancel Help Modify all or some of the displayed values Press the OK button to save the updated ellipsoid e Delete is used to delete the selected user defined ellipsoid e mport is used to import a Pinnacle Ellipsoid file such files have the jff extension Once pressed this button will invoke a standard Open File dialog box This dialog box allows the user to select the desired Pinnacle Ellipsoid File from the list box note that the Pinnacle installation includes the file e lioses ff 5 2 Datums Press the System editor S button in Pinnacle s main menu and choose the Datums tab to e view predefined datums e add edit delete user defined datums PINNACLE offers a list of predefined datums which can be used but not modified or removed from the database User defined datums can be added to the list through the Datum sheet with the help of the New button Note that only user defined datums may be edited or deleted 61 Coordinate System and Geoid editor i l ES Ellipsoid Datum Grid systems Units Geoide Comment User Defined Datum Unepecitied t parameters De fom DY QO rm DZ fp m A Se ppm Ellipsoid name Wi Sad This window provides basic information about the selected datum 1 datum s full name this is shown in the Comment field is optional 2 three scalars translation parameters defining the po
78. id Models In Pinnacle it is possible to import new global and regional models 5 8 3 1 Global Model Import Global models are imported as text files In such files each line contains the degree and order for the corresponding coefficients two integers the cosine and sine coefficients properly two float numbers and if available the coefficients RMS values also float values A global model file can start with some comment lines which are disregarded when the geoid data is read in A comment line may begin with any symbol other than a digit Spaces are disregarded any place in the file The actual data format the number of positions used to keep geoid coefficients degree and order and their place in the line is determined automatically while reading in the first meaningful line Note that this starting line must have delimiters The other lines do not necessarily have to have delimiters In addition the program is able to read in data specified in the following delimiter free format degree number 3 digits order number 3 digits coefficients 19 positions 12 digit mantissa For example 0 l 2 3 4 12345678901234567890123456789012345678901234 4 2 0 350729847400D 06 0 663967363224D 06 17 5 8 3 2 Regional Model Import gt etup Dialog for Regional Geoid Model Start Coordinates Latitude y o E fo z fe E Longitude Rows Number Columns Number Lat Greed Size min
79. ifies a process convergence criterion in meters Contrast Threshold This specifies a contrast test ratio which is used for ambiguity resolution Static Engine BASE STOP Mode GPS I GLONASS Advanced W Enable this navigation system General Flags W Enable use of reference satellite MW Enable ambiguity fixing Carrer Phase M Use CLA M Use P L e Use L2 Pseudo Range M Use CA M Use P L M Use P L W Save ds Default 7 Apply To All Vectors Cancel Restore Metal 88 6 7 2 The GPS sheet Enable this navigation system This means to use this system in the solution Note that this field duplicates the Nav System field on the Mode sheet Enable use of reference SV If checked only one satellites is used as a reference when formulating double differences Enable ambiguity fixing If checked the engine is forced to search for a fixed ambiguity solution The Carrier Phase checkbox triplet Use C A L1 This checkbox indicates that this channel s carrier phase measurements will be used by the engine L1 frequency amp coarse acquisition code Use P L4 This checkbox indicates that this channel s carrier phase measurements will be used by the engine L1 frequency amp precise code Use L2 This checkbox indicates that this channels carrier phase measurements will be used by the engine L2 frequency The Code Phase checkbox triplet Use C A This checkbox
80. ill stop waiting on data Note that this command is also available in the pop up menu Until data import starts this command remains disabled the corresponding button is grayed out 3 3 6 Channel Properties Right click on the desired Data Channel and select Properties from the pop up menu Properties Activation Time GMT Remote Start time E May 24 E ja Ey End time 21002 December a Mos Ee 0 seconds Lancel Help In this dialog window Start time and End time specify the time period over which the channel is assumed activated but this holds true only if Import is run via the Make 91 command On the other hand if activated via the Start button Import disregards the above two settings By default Start time is defined as the time when the channel is added to the Schedule Through the Every data field you can set the channel s periodical activation cycle This is very useful when you need to download from a remote source e g an ftp server a file which is known to be periodically updated Properties UAL ftp ftp mycompany com GPS 7D ata 9305 itel PS Cancel Help The other tab which is called Remote allows you to edit the channel s URL 3 4 Import Filters Pinnacle s import module is able to automatically recognize several friendly file formats First the module checks whether the file imported is a compressed one Pinnacle recognizes inp
81. in broadcast or precise ephemeris this data will be accessible throughout the Project shared by all of its Networks Note however that these Data Channels are explicitly specified only in this Network s Schedule 3 1 Adding Local Files To add files to an mport Schedule press the 3 Local button A standard dialog box appears allowing the user to select one or more files either on the local system or in the network neighborhood The Files of type combobox lists all of the file types this specific PINNACLE installation can import This list will depend on what specific set of Import Filters is available in this installation For more details about Import Filters see Section 3 4 below 3 2 Adding Remote Sources As Data Channels To add a remote data source to your channels press the anh Remote button and enter the desired URL Universal Resource Locator or Internet address exactly as it is done when running Internet browsers lt protocol gt lt hmost name gt lt t1 Le Location gt For example ftp ftp mycompany com GPS Data 1998 Sitel JPS lf the site or directory is password protected you can embed your login and password into URL lt protocol gt lt login gt lt password gt lt host name gt lt file location gt For example ftp joe secretword ftp mycompany com GPS Data 1998 Sitel JPS Note that PINNACLE first launches an external application to retrieve the desired remote file then puts that file s cop
82. indicates that this channel s code phase measurements will be used by the engine L1 frequency amp coarse acquisition code Use P L1 This checkbox indicates that this channel s code phase measurements will be used by the engine L1 frequency amp precise code Use P L2 This checkbox indicates that this channel s code phase measurements will be used by the engine L2 frequency amp precise code 6 7 3 The GLONASS sheet The GLONASS sheet is similar to the GPS sheet 89 Static Engine BASE STOP Mode GPS GLONASS Advanced Flags M Use Troposphere Model Use lonosphere Model Disable Use of Precise Ephemeris Slip Search Phase increment rms cycles 0 03 Residuals rms cycles jon Previews m cycles joo Residuals me factor ha f Max epoch interval sec 100 01 Coarse tolerance meters ho Fine tolerance cycles pa W Save ds Default 7 Apply To All Vectors Cancel Restore Derant 6 7 4 The Advanced sheet Use Troposphere Model allows use of the troposphere correction model Use lonosphere Model allows use of the ionosphere correction model Disable Use of Precise Ephemeris if checked the broadcast ephemeris will be used The sheet also includes several parameters to do with the Cycle Slip Search If the user decides to update the default settings care should be exercised that the new settings are practicable These parameters are as fo
83. ing data fields Note Care should be taken that the proper coordinate system is chosen before typing in data otherwise the coordinates entered will be automatically modified to match the user selected system A point s coordinates can be copied from e the SubNets panel into the Project window e the Solutions panel into the Project window e Control Point lists lf the Table Calculator s list is empty the coordinates to be copied will remain as they are in the original coordinate system Otherwise these coordinates will first be transformed into the system chosen If such transformation fails the point IS NOT copied 12 When copying a Control Point list its points coordinates are not transformed The coordinate system to be applied to a table calculator list will coincide with that associated with the first item of the first control point For each point only one or none of its items can be copied If none of the point s items belongs to this coordinate system this point is not copied into the table calculator list Note If a different coordinate system has been chosen for a table calculator list which is not empty NO points are copied from the Control Points catalog Table Calculator provides the following buttons L Choose modify coordinate systems for the window s panel Choose system jx System datum TRISTAN one Convert the coordinates the user has input from the left hand panel s coordinate sy
84. ints are missing the RMS value the program will disregard all of the actual RMS values available by forcing them to zeros 79 The Verify option is used for verifying the local geoid model created For this purpose the following two tests are carried out 1 In the first test the largest blunders are detected by means of the analysis of the geoid slope Geoid slope is calculated for a pair of points belonging to the given local model The height difference computed is then compared against a predefined threshold tolerance For example this approach will allow the user to identify a 1 5 meter antenna height blunder for a pair points lying up to 4 0 km apart such errors when the user forgets to set the right antenna height are not infrequent Since two or more adjacent points can be affected by the blunders at the same time the program shows all of the pairs for which the computed geoid slopes exceed the threshold Geoid Yerify Log Par Residual Severity O 1 5 4 22 O Lee 3 46 Oi 4 52 Geoid venfication Failed Save Help 2 The second test is a finer tool for detecting erroneous data It works effectively after all larger blunders have been removed with the help of the first test In the second test the program successively checks all the points in the model one by one Every point is temporarily removed from the model so that its geoid height is extrapolated using all the others Then the value ex
85. ion Component ES Obstruction window for Point pl Cutoff Angle 10 AA a0 65 40 The center of the circle corresponds to the site to be surveyed The topmost point on the circle specifies North the leftmost West the rightmost East and the bottommost corresponds to South The outermost circle represents the horizontal plane zero elevation The Obstruction editor provides the user with a tool to graphically enter obstructions adversely affecting satellite visibility Note that once a point s obstructions are specified these will then be taken into account when computing such characteristics as satellite availability visibility and DOPs An obstruction may consist of several separate components 2 4 5 The Satellites button This command is available for every type of node in the tree it may be a vector point or occupation node The Satellites List Dialog window is as follows Satellites for Occupation p1 766 Me ES GPS GLONASS 12 M 23 io Bes 14 15 16 mal al I 17 MI M ES ful Pl 25 Of FS co fo Paul 4 41 41 41 41 41 lt 1 lt 1 lt 1 41 4 EE ul D ee TE CLLELEEEEL e lalalala Bl in rh Pr a1 41 41414141 1 1 41 41 41 4 T Show ill satellites ALL ON ALL OFF ALL ON ALL OFF The user may use GPS and or GLONASS satellites All satellites have their ID numbers mi l The user may select the satellites to be used i
86. ion to the desired observation session The way you handle this window is similar to how you assign the planned vectors to the relevant Solutions group see section 2 2 1 Once the occupation has been assigned to the desired Session a planned occupation diagram displayed as a hatched rectangle will appear in the Occupation vs Points or Occupation vs Receivers window and this Session will be shown in the Raw Data Sessions panel The Properties for Occupation window has the Never stop waiting checkbox which is very important for proper planning When an actual occupation arrives the system will identify all the planned occupations that have been waiting for this actual occupation If a waiting occupation is found consistent with the actual one the actual will be placed into the waiting occupation Then if the waiting occupation has the Never stop waiting option checked it will remain in the Session waiting for new relevant input data If you want a planned Occupation to be open for more than one actual occupation check this box You may also want to 33 check this box if you need to retain your planning history so that you might compare the planned occupations and the actual received data In the Occupation View window you will see your planned occupations together with the actual ones The rules for determining whether an actual occupation satisfies the requirements of a planned waiting occupation are as follow
87. ions of the planned points the program also allows you to edit the points obstructions Select a point in the Points list window and right click on it Select Edit obstructions from the pop up menu An Obstruction window for Point window will appear which will allow you to edit the point s obstructions This can also be done from the Network View window right click on a point and choose the Edit obstructions command from the pop up menu 2 1 6 Importing Points from other Subnets The points that have already been defined for the network or its particular subnets can be easily included into the subnet to be planned To do this go to Point List and select the desired points see Section 2 1 4 then move the cursor to any of the points click the right mouse button and select the Save as Subnet command from the pop up menu The Properties for Subnet window will appear prompting you to enter the name for the new Subnet Once the name has been entered the corresponding points will be added to the new subnet Alternatively you can use the Network View window to retrieve points from the existing subnets and add them to the new one To do this choose any subnet go to its Network 28 View and press thet Show whole NetWork button The entire Network will be shown Select the necessary points by left clicking on them while holding down the Ctrl button Right click on any of the selected points and choose the Save
88. it Network View Landscape Measured Vectors Summary 1 2 Measured Vectors Summary North E ast Lp Measured Vectors Summary Distance Azinuth Eleyation Adjusted Vector Residuals H 7 7 Adjusted Vector Residuals North E ast Up Adjusted Vector Residuals Distance 4zimuth E levation Adjusted Vector Residuals Histogram Adjusted Vector au Yalues Delete Nem Job Add File Name C PROGRAM FILES PSA PINNACLE Report sHoORe Browse Aun default Aun to File Open Lancel Help Choose System type Grid System datum SPC83 and Zone TX_S Press OK and the coordinates should display in your default web browser To export in ASCII format choose Mode Text and Run to File FELL 23 2 Full Planning from Network Design to Field Work Schedule 2 1 Planning Network Points 2 1 1 Creating new projects networks and subnets Planning a GPS survey network starts with the opening of a new project followed by creating relevant New Network s for this project If an existing project is opened planning starts with the creation of New Network s for that project See Sections 1 1 and 1 2 for creating a new project and running New Network The locations of the existing and planned survey points are to be input into the corresponding subnet s of the network When running one or more Networks in the project you will create one or more necessary subnets governed by both the objectives of the planning and your own pr
89. it each point s obstructions separately For more information about the buttons in the Occupation Planning window see section 2 4 2 4 Planning Tools Planning Tools allow you to work out a suitable field operation schedule which guarantees adequate satellite availability etc You may handle both of the constellations when planning occupations GPS G in OP windows OP stands for Occupation Planning and GLONASS R in OP windows OP windows enable you to determine satellite visibility and position availability and corresponding DOPs with regard to the planned occupation or the vector Also occupations may be created and edited with the help of OP 2 4 1 Main Occupation Planning window The main Planning Tools window Occupation planning OP may be opened either from the Solutions panel or from the Sessions panel depending on what you are planning an occupation or a vector When planning an occupation move the cursor onto the desired occupation in the Session panel right click on this occupation and select the Occupation Planning command from the pop up menu A trivial OP window will appear that displays a single node tree this node corresponds to the selected occupation 34 ES Occupation Planning al ES HH When planning a vector move the cursor onto its node in the Solution panel and right click on it then select Occupation Planning from the pop up menu The following Occupation Planning window
90. justed network The baselines coordinates together with their estimated accuracies are produced Such baselines are not necessarily associated with the measured GPS vectors Baselines may be presented in a XYZ NEU Latitude Longitude Height or Azimuth Elevation Distance coordinate system The RMS values of the estimated coordinates are given in meters In the Network View window click on the first endpoint and then click on the second endpoint while holding down Ctrl Next right click on either endpoint to open the following dialog window 03053 gt 09323 oe e dNort dEast dlp dLat dLon dHei C Ds Dy Dez f Azim Elev Dist sigma 0 0015 a A TE dUp so ord4y agma 0 0032 Help To set the desired coordinate system select the corresponding option from the Type radio button group Check the Reverse Endpoints checkbox to change the direction of the vector 7 4 2 4 Adjusted Network Statistics Pinnacle allows the user to view the so called adjusted subnet statistics Select the Subnet Matrix View option from the subnet s popup menu A Subnet Matrix View window will be opened see the example below 114 Subnet Matrix ViewVectors count Subnet My Ne Male Ea alale 64 a T Points 3 DODDRIDGE Est 2 seo an TE NN soam 2 1 peas SM100 aes LETERE By default this window features only the GPS measured vectors pertaining to the subnet s points The following sta
91. l select the desired output coordinate system and press the gt gt or lt lt button to perform the coordinate transformation The resulting coordinates will be displayed in the corresponding data fields of the to panel 5 6 Height Calculator To activate Height Calculator choose the Height Calculator tab from the Calculator window Calculator Aa E EN Ell height S84 a ai E E 0 Calc Ort height Po Calc Geoid height Calc Geoid Model Longitude z E hi2 Ely Ey ses i Sister daturn WG cod Zone This window serves two purposes e First it allows the user to convert between ellipsoidal height orthometric height and geoid separation values e Second it is used to transform coordinates from one system into another when only orthometric not ellipsoidal heights are available i e Lat Lon Orth Height or Northing Easting Orth Height There are two panels in this window The left hand panel is the same as that in Coordinate Calculator s window it is used to enter a point s coordinates The right hand panel is used to convert heights The height to be converted may be entered manually Also the user may copy an ellipsoidal height from the left hand panel to the right hand panel by pressing the gt gt button Note that ellipsoidal heights in the right hand panel are always specified for the WGS84 ellipsoid This means that when transforming a height above the local
92. le vector baselines click on the corresponding items in the right hand panel of the Network View window e Non Trivial Vector Set Constructor identifies and displays the Subnet s non trivial vectors e Control Tie Analysis checks the consistency of the control applied For a pair of control points this feature compares these points positions against those computed by means of the GPS data It is not necessary to perform the above tests for the entire subnet The Test Selected option is used to carry out these tests for only selected vectors recall that vectors can be selected through either Subnets or Solutions Note that all of the above mentioned options are also accessible through the Network View Options dialog window To access them right click somewhere in the Network View window and select Options from the pop up menu After the Network View Options dialog window is opened select the Loop Misclosure and Repeated Vectors tab to see the settings associated with this test see below 7 1 1 The Loop Misclosure and Repeated Vectors tab Network View Options Non tivial vector set constructor Control Tie Analysis Network lew Network Selection options Network Structure Test a oa oe O O ete e Show all results e Break on bad results Maximur number of vectors in loop 77 ond Maxinur loop length fin kon A o o Maximum number of loops to show 3090 p blas of non closed vectors 100 p Ma
93. lect some lf you check Always use default you will not be asked next time your vectors will go to the default set of Solutions If you have checked this option but then want to change the default set just switch Line drawing mode to off and then back to on This ends the introduction to the Network View for your Subnet You should have vectors connecting the three points together 1 2 2 What Is Shown In the Solutions Panel Go to the Solutions panel of the Project window and expand the nodes representing your Solutions Note that each top level node represents a Solution and has two child nodes the first node named Vectors lists for this Solution the vectors to be measured and then processed the second node specifies the Occupations that will provide raw data for processing Solutions OG A ELI S Vectors ELA SN 111 SN 110 H O A SN 110 DODDRIDGE H O A DODDRIDGE SN 111 O Occupations According to the type of the Solution each top level node and its first child node can have one of the following icons for Static Solution I for Kinematic Solution and for Mixed or Stop and Go Solution Also child nodes may have different titles for these three types namely Vectors Fans and Vectors and Fans For more details about the above mentioned types and the vector and fan processing properties please refer to Chapter 6 1 2 3 Planning Occupations PINNACLE has a special module for Occupation planning It provides th
94. lite Longitude These tables are computed for the position and the session date of the selected occupation vector at the 30 minute default step delta time starting at O h 00 min The Delta Time control allows the user to change the delta time which varies from one minute up to one hour with an increment of one minute The User can obtain these tables either in Local Time or in GMT 2 4 14 Printed Forms for use in field El The Print Form 1 command in Pinnacle s main Control bar is used to print out the desired Station Data Sheet form for field use 46 Bion Cab sheet Station Data Sheet may be used to input pre survey field information The Print Form 2 command in the Occupation pop up menu allows the user to print out a GPS Observation Log form which is used for documenting the information collected in the field Since such a form is printed for the selected project planned occupation the project name site name position planned observation date time and other relevant information will be automatically added to this form prior to starting the planned field measurements 2 5 Analysis of Planned Networks For the analysis of a planned network go to the corresponding Network View window push the A Show analysis window button and select the Net structure test option in the pop up menu The following information will be presented e total number of points baselines and vectors e number of control points pl
95. ll the blunders detected if any Point Blunders x RE best failed V PY 529 14 bounds 52 93 100 84 Blunders 4 Mode tor Mest lberatior ees l ARA Ma eve E a ES Auto with Rejecting C Auto with Downweighting Downweghting factor 601 A Default gt a Reject Downweght Accept Help This window displays the blunders names indicates which coordinates have the largest errors plane or height and lists the computed Tau Tau ratios together with the default downweighting factors recommended for use in the next adjustment iteration to compensate for the data uncertainties These default downweighting factors may be modified through the Downweighting factor edit window The Default button is used to retrieve the default downweighting factors As for the blunder induced erroneous points such points may be rejected or downweighted according to the value specified in Downweighting factor or accepted as they are the latter means that the bad points are used as if they are perfectly correct To run any of these three options press the corresponding button at the bottom of the window Sometimes it is necessary to stop the current adjustment iteration in order to examine the intermediate results obtained Pressing the Stop button accomplishes this The points whose control data have been rejected in the course of adjustment are marked in red in the Network view window Once the user has finis
96. llation Go to the Networks tree you may have to move the Network view to see it right click on your Network node and select Control Data from the pull down menu You will see the initially empty window that will contain your Control Data Press the E Import control data button A dialog box will appear prompting you to specify the name of the Control Data List you are going to create Enter the list name for example NGS and optionally a comment and press OK A standard File Open dialog box will appear Go to the Data NGS Data Sheets directory and select NGS Data Sheet htm in this dialog s Files of type combo box Select the file named Dodd html You will see Control Data appear in your Control Data window You can close the Control Data window at this point Open Look ir a NGS Data Sheets FE des Yf 5 Dod ey My Documents m El My Computer 2 3 Floppy 4 C 3 Prograrn Files O Jps 3 Pinnacle j GS Da z eete enan E Removable Disk D Files of ty E Enea E Network Neighborhood E My Briefcase 3 Online Services 3 User Guides on CD Now you can create your survey points attached to control points To do this press the Select rectangle to add points from catalog button in the Network View The cursor shape will change to y Press and hold the left mouse button while dragging the rectangle around an area that will include all of the points of interest Release the butt
97. llows Phase increment rms cycles is the maximum acceptable carrier phase increment RMS error Residuals rms cycles is the maximum acceptable normalized sum of squared residuals Preview rms cycles is the maximum acceptable normalized sum of squared carrier phase increments as applicable to static occupations Residuals rms factor this parameter which must be gt 1 specifies a threshold post static increase for the sum of squared residuals Max epoch interval sec specifies the maximum acceptable gap between adjacent measurement times when checking for phase measurement consistency Coarse tolerance meters is the maximum acceptable discrepancy between code ohases at adjacent measurement epochs This is used when searching for large phase slips caused by loss of lock in the carrier phase loop Fine tolerance cycles is the maximum acceptable carrier phase discrepancy If the fractional part of the phase exceeds this value the measurement will be omitted 90 6 8 The Occupation Properties It is possible for the user to set specific engine parameters for each particular occupation These parameters are the start end time and the forbidden satellite flags The Occupation parameters dialog window is activated by selecting the Engine Properties command from the occupation menu in Solution The dialog window is comprised of two tabs Timing and Satellites Commands and fields relevant to
98. lp of the Attach Points to Control Point Items dialog box 4 4 1 The Select Control Data Lists Dialog Box Select Control Data Lists Coordinate Type Fiker pa FF Gnd F Caitesion Cancel Help In this dialog box Control Data includes all Control Data Lists from the Network as well as all Control Data Lists from the Project root Once the desired Control Data Lists have been selected press the OK button to open the Attach points to control point items window 57 4 4 2 The Attach Points to Control Point Items Dialog Box Atach points to Control Point teams DODORIDGE 5111 H 111 South ex MADgS 50 111 South Tes Hangs 50 110 SOT er MADS DODORIDGE DODORIOGE IE DODDRIDGE SouthT ax Manas THIN So eh Tay Marie e lb AR Feed C Weighted f Fined 1 Weighted C Mied C Nona C Meed Cl None Aklsched pomis 50 1 50 101 DODORIDGE AE This window s top left panel shows a list of Points to be attached the top right panel shows Control Point Items from the selected catalog s and the bottom panel lists the points that have already been attached When the user selects a point from the Points to attach list the program will then sort out the Control Point ltems in accordance with their distance to the selected point Once the user has selected the desired Control Point Item and clicked the Attach button the control data will be attached and the program will ad
99. lts on a subnet adjustment are displayed in the Analysis window similarly to pre adjustment results These results are available as long as the window remains open 7 4 2 2 Diagrams For some of the adj stment results it is more illustrative to present them in a graphical form PINNACLE gives the user the opportunity to obtain in graphical form the following types of data e residuals distribution histograms e diagrams of the adjusted points relative positional accuracy To open the Diagrams window the user should select the Diagrams option from the subnet s menu see below Diagrams C W Residuals Histogram Y Residuals Histogram Z Residuals Histogram C WY Residuals Histogram Z Residuals Histogram YZ Residuals Histogram C YZ Residuals Histogram Northing Residuals Histogram Easting Residuals Histogram Height Residuals Histogram Plane Residuals Histogram NEU Residuals Histogram Delta Northing Accuracy vs Distance Delta Easting Accuracy ve Distance Delta Height Accuracy ve Distance Lancel Help 113 Choose the desired diagram from the list and press the OK button As many different diagram windows as needed can be opened in this way Note that XYZ Residuals NEU Residuals and Accuracy vs Distance diagrams may be inserted into adjustment reports if required see Chapter 9 7 4 2 3 Adjusted baselines PINNACLE provides information on any baseline relating to the ad
100. m If a pre defined system is chosen this button is disabled e The Import button allows the user to import a Pinnacle grid system file such files have the extension jff When pressed this button invokes a standard Open File dialog window For example the user can select from the list the file geosys ff which ts included in Pinnacle installation and then continue 5 3 1 The Zone List dialog box one list of grid system Usersystem Comment ETE Datum name ESE Projection name TMERC i SC CS S Unit name Metes zone SW to SE Mew E dit Delete This window provides information about the selected zone of the given grid system namely e acomment zone s full name optional parameter e datum name e projection name e unit of measurement e a full list of Zones specified for the given grid system This window has the following buttons e the New button is used to add a new zone to the existing ones relevant for user defined systems only 66 New zone for grid system UserSystem Mame Comment Datum name Projection name TMERC Transverse Mercator simple zone Unit name Meters Edit proj Tje Cancel Help Enter the new zone s name in the Name field then select the desired datum from the Datum Name list box and unit of measurement from the Unit Name list box and choose the projection from the Projection name list box Press the Edit proj b
101. mands invoking Process form a processing task list which is stored in the Process Queue This queue is shown in the Process window 93 PINNACLE db 1 Day 280 Project Window Help El Process Queue 5 Solution New Network New Solution Running x Process New Solution Data Load Vector ORM1 NBS3 1 803 1806 580 2726 502 8929 Ama 0 0024 Len 1111 1 Vector ORM gt NBSO 1253 2113 360 5405 113 0620 Ams 0 0046 Len 1 308 Vector DAM gt NES5 processing sli o s Tasks are executed sequentially according to the queue order Task execution may be paused or cancelled Any task can be deleted from the queue if required Every task is assigned its current status which is represented as a special symbol preceding the corresponding task line in the window The following task status signs are used A Ready task is ready to start and it is waiting on the user cD Waiting this task is all set for processing and will start as soon as the task in progress is over E Running task is in progress OK Processed task is finished Not Ready task cannot be processed Tasks are managed through the Process window s Tool Bar with the help of the following buttons tN Run Process Pressing this button will change the task status from Ready or Processed to Waiting eos Terminate Process Pressing this button will stop the execution of the current task and
102. mm Total plane rms Vector Estimate Errors Rims A 17 458 0 3 mm The Statistics sheet displays the amount of available and used measurements the total number of used ambiguities and the number of ambiguities fixed processing flags and the contrast ratio obtained when fixing the ambiguities 96 New Solution 0005 gt 0004 Vector Result XYZ ENU AzELDist Statistics Elipsoid Base Num Meas ETS Flags Mum Used E 367 Mum mbig E Mum Fixed E RMS Resid 4 5 mr Fix Ratio 00 000 gt Static DoubleDitt Fired Cloze The Ellipsoid sheet features the vector s error ellipsoid as well as its projections in plane and height Hew Solution 0005 gt 0004 Vector Result 30 dispersion ellipsoid serni axis Plane projection semi aris Length Azimuth Elevation Length Azimuth Max 20mm 3101 821 Max 09mm 37 8 mid 0 9mm ass oz Mir 0 9 mm 127 8 Vertical proj Min 03 mm por 7 9 comparo 20 mm Close The Base sheet displays the base station s point coordinates which have been used for vector processing New Solution 0005 gt 0004 Vector Result Base point coordinates W584 B mar 22 21 0182 26991469372 m L Ww 121 59 50 73566 43089646573 m H 8 1823 m Zo 3850823 5038 m Cloze 97 7 Network adjustment The adjustment of a GPS network an entire network or a subnet can be divided into the following three stages e
103. n computations by using the checkboxes 47 40 Show ill satellites This enables disables the ill health satellites Note that the ill health satellites are always disabled when computing DOPs ALL ON All GPS or GLONASS satellites are selected ALL OFF All GPS or GLONASS satellites are deselected 2 4 6 The Almanac button This dialog window allows the user to choose a single system almanac either GPS or GLONASS or a combined one GPS amp GLONASS ALMANAC Ei W Use GPS Almanac D AcecobeO ur aL 96 045 Change Use GLONASS Almanac je ICECUBE DAMAR Y TAALMGLE DAT Change Lancel Help The user can see the ages and the paths of the currently used almanac files The Change button allows you to change the current almanacs Age is a passive data field Almanac age is measured in days If an almanac is out of date the user can select a new one The check boxes enable the use of the GPS or GLONASS almanacs 2 4 7 Current Local Time E Current Local Time for Point pl Pini Ea Apply Start Time i R000 End Time i R0000 ED AA pr pp ny 15 00 17 00 18 00 21 00 23 00 7 00 S00 500 FOO S00 11 00 13 00 15 00 The user can choose the desired time within the selected observation period by using the slider or the Current Time controls Once the Apply button is pressed all of the windows relating to the selected node will be updated according to the newly selected time
104. n control stations with 1 occupations o 5 Min of vertical control stations with gt 1 occupations T Min of honzontal control stations with 1 occupations 0 Cancel Help The Min of options check whether the given subnet meets some third party criteria specifications for example NGS specifications Note that if some of the test results do not meet the specified tolerances the corresponding message in the analysis window will be marked with a red circle lf the checkboxes Test for bridges Test for junction points Test for single ended vectors are checked the program will search for bridges junction points and single ended vectors respectively A vector connecting two network components is called a bridge if there are no other points or vectors connecting these two components A point connecting two components is called a junction point ifthere are no other points or vectors connecting these components Note that bridges junction points and single ended vectors are reported as warnings 101 7 1 3 The Network View tab Network View Options Loop Misclosure and Repeated Vectors Non tivial vector set constructor Control Tie Analysis Network View Network Selection options Network Structure Test Show grid i Off Under diagram Over diagram Show map e Show point names e Show comments on nearby objects Show error ellipsoids for vectors Show erro
105. nates of the current cursor position are displayed on the window s status bar Note that it is not required to pinpoint the planned points exactly in the network view it will be sufficient to locate these points approximately In Point Drawing mode click the desired location in the Network view A new Point will be created and associated with your Subnet You will be prompted to enter and or modify this point s properties 26 Properties for Pom Properties for Pom Navigational coordinates Processing cocmdinates General Preiminsry coordinates on y i Latitude Se jer faa 5215518 o E I me Longiude 2 la o es A Heig m 00006000004 Cee BL de ars Sur eT gt RMS m ca ea te 1 ca ea te 1 Care should be taken that the point name is unique to all of the subnets of the given Network otherwise the OK button will remain grayed However different networks in the project are allowed to have points with identical names In the Properties for point dialog box you can also enter a comment or and change the point s preliminary coordinates either Cartesian XYZ or geodetic Lat Lon H or BLH formats can be used Now let s create two new points for our network we will name these two points SN 111 and SN 110 Note that even if all the points you have created are new that is these points are not control points you still have the opportunity to attach Control Data
106. nd select mport from the pop up menu In our example let us assume that you have some raw data files somewhere in your computer Press the 3 Local button to find them using a standard Open File approach Change the Files of type to All files and locate Select files for import A E Look in E Session gt E Al El poes ES eo E E DODDOS4t 99N 5110544 330 SJ poops 990 311110541 336 511110841 99H 51111084t 990 oN11084u 996 File name 5N11084u 990 DODDOS4 99N DODDOS Files of type E files Cancel the Session1 data Highlight all of the files and press Open These files will be listed in Import Schedule ready to be imported into your database Note that these files are not downloaded yet They are just listed as your data channels to be activated later There are several options you can set for a data source by right clicking on it and selecting Properties from the pop up menu Also there are some settings for Import 16 Module as a whole that are accessible through the eS Setup button However there is one option that may be important now So far you have scheduled your Occupations for certain points and for certain periods of time Now that actual data is arriving in Pinnacle it will be checked against the existing points and the planned times in order to find out whether it satisfies the requirements of the planned Occupations To learn more about how actual Occupations interact with and su
107. necanteguctepecauhean staucicnetessecuseaucacteaacice 28 2 1 6 Importing Points from Other Subnets cccooooncnnncccconccnncconononononononononononanonnnnnnnnnnnnnnnnnnnnnnnnnanennnos 28 As PP es caste ce mene dco eneteseserec tee 29 2 2 L ASSIJNINO VOCO S iiris oroni RE ONER nants ranean A ERAR NE Si 29 te Delno VOCO cnrs ENE I IIRA conte D NTER ERRi 30 2 3 OCCUPATION PLANNING osssosuissrin aaia aA E caes 31 2A PLANNING TOOLS cicera as EE iee 34 2 4 1 Main Occupation Planning WINdOW cccccoconccnnccncooncnncononononnnononononnnononannnnonnnannnnnnnnnannnnnnnnnanens 34 2 4 1 1 New occupation A 35 AO io AMA PP A 36 2 4 1 3 Almanac E EE n 36 2 4 1 4 Skyplot window H A Pa 36 do 2 4 1 5 DOPs Er a ot nips E cedros 36 azl 2 4 1 6 Elevation Azimuth WB oooccccccnoonccccconcnnncccconnnnn conocio nn nnn cnn cnn anna nro 36 WIS 2 4 1 7 Visibility APM O e OPIO E I III II A 36 2 4 1 8 Earth map bd SAP PA 36 2 4 1 9 Report table El tas 36 PERA 2 4 1 10 Time Date APMPREON9O P OO0 OCOO5 XM e eno ES 37 2 4 1 11 Current Local Time aT 37 a E A E E A A E uteeanees 37 2 4 1 13 Set Obstructions On Off Se A or PERA 2 4 2 Time Date Editor for vector 2 ccooococccccocacanonoooncnonorononnnnnnonnonnnnnnornnonnnnnnrnnnen cnn nr rnnnnnnnnnrnnnrnnnnnoos 37 PERA 2 4 3 Time Date Editor for occupation SED cccececccccceeecseecceenssseeeeeereseeseseensceaseesernssaeeseersneasteserstaaees 37 243 1 ime Date Dinar ninas 38 Ze OO
108. ning tools are used see Section 2 4 The second task is to create a detailed field operation schedule that is based on the occupation planning scenario To start planning an occupation select a Solution in the Solutions panel right click on its node and choose the Occupation View command from the pop up menu An Occupation vs Points or an Occupation vs Receivers window will be opened To switch between these windows the Show occupations vs receivers or jad Show occupations vs points buttons are used An example Occupation vs Points window is presented below Note that the horizontal axis designates time whereas the vertical axis shows the endpoints of the vectors from the given Solution All points within the network may be displayed by pushing the menu s Y Show whole Network button 31 Occupations Ws Points Solution Hew HawokiSouthT ekat i A SMA de COCORIDGE meter i Hd The zoom buttons and scroll bars are used to set the desired scale and select the necessary observation period on the time axis If you have difficulty seeing the occupations type in the times manually and press the PK Fit into Window button to redraw the occupation interval on the time axis properly Use the Plan occupation button to create new occupations This will switch the window to Occupation planning mode To switch this mode off press the button again The cursor s shape will change to N onc
109. of a network adjustment For details see Section 4 1 3 9 4 Subnet Commands The Subnet commands provide the Residuals and Accuracy diagrams for the given subnet With the help of these commands the user can compare two Subnets or save the Height information from the adjusted Subnet as a Local Geoid Model Also the user can obtain a differential position for a pair of points from the adjusted Subnet These commands are described below 9 4 1 Diagrams By using this command the user can obtain the following two types of diagrams the Residuals histogram and the Accuracy vs Distance diagram 9 4 1 1 The Vector Residuals Histogram Residuals Histogram provides normalized vector residuals for the sake of illustration they are shown versus the bell shaped normal distribution s curve These residuals are computed in the course of the free adjustment Residuals histograms are available for the following parameters X Y Z XY XZ YZ XYZ Northing Easting Up Plane Northing Easting and NEU 121 The XYZ and NEU residuals are included in the report SubNet 12 An example vector residuals histogram is shown below HEU Residuals Histogram Density Vector NEU Residuals distribution appears normal criterion 10 62 lt bound 15 51 IK EN Normal Distribution oe E A E ne FELD BOO IESO IESO IESO IESO IESO IO ee 2 Normalized residuals 9 4 1 2 The Accuracy vs Distance Diagram The A
110. of processed points and vectors adjustment mode constraint adjustment or not adjustment statistics etc SubNet 2 Adjusted Point Coordinates SubNet 3 Adjusted Point Coordinates in Selected System These two reports provide information on the points coordinates together with the estimated standard deviations and correlation coefficients SubNet 4 Network View Portrait SubNet 5 Network View Landscape These two reports provide the subnet views The first of the two provides the subnet views properly scaled in the north direction along the vertical axis the second in the south direction along the horizontal axis SubNet 6 Measured Vectors Summary X Y Z SubNet 7 Measured Vectors Summary North East Up SubNet 8 Measured Vectors Summary Distance Azimuth Elevation These three reports provide information about the measured vectors coordinates in the specified coordinate system together with their estimated rms errors and correlation coefficients SubNet 9 Measured Vectors Residuals X Y Z SubNet 10 Measured Vectors Residuals North East Up SubNet 11 Measured Vectors Residuals Distance Azimuth Elevation These three reports provide information about post processed residuals SubNet 12 Measured Vector Residuals Histogram This report contains two vector residuals histograms in XYZ and NEU respectively 117 SubNet 13 Measured Vector Tau Values This report contains information about normalized vec
111. olumn indicates which of the suspect s components is worst i e which component has the largest error This character can be N E or U for a local system or X Y or Z for an XYZ coordinate system e Tau Tau cr ratios for bad vector components together with the recommended downweighting coefficients Recall that Tau Res Ores where Res designates the residual value of the corresponding measurement and Opes stands for the rms residual error Also note that the denominator Tau crit only depends on the number of degrees of freedom this parameter typically ranges 3 through 5 for most practical cases Also note that the downweighting coefficients are always equal to et ESTADIA crit Unless the user changes the default values see below The user may disregard the recommended values entering some downweighting factors Then press the Downweight button to enable the downweighting factors specified for the blunder induced erroneous vectors and to start the next adjustment iteration In addition the user may want to reject one or more erroneous vectors altogether To do this the user should highlight the required item s in the vector suspect list and then press the Reject button Note that it is usually NOT recommended to reject a bunch of vector suspects rather the user should reject erroneous vectors one by one selecting in the next step the suspect having the largest Tau By pressing the Stop button the user may st
112. on when finished These points are located in South Texas so draw a box as shown below 10 Network Planning Subnet Network14 New SubHet A Alala El 219 al T H al Jel sjm Su Alivio Latitude 300000 OM 11000 00 0 1000000 Oh 30 00 00 Oh 102528 41 544 ON You will be presented with a list of Control Data Lists available in your Network Select the list NGS and press OK You will then see a list of the Control Items that are inside the rectangle you selected Create points from Control Data ei E lteme in defined borders Selected Items Control Data List Control Point Na Control Data List Coordinate E 50 111 HGS HADES 50 101 HGS HADES 50 100 HGS MADEJ 51 121 HGS HADES 59 111 HGS HADJ 5N 110 HGS HADES SN 100 HGS HADES 51 050 HGS HADS SWATNER HGS HADES DODDRIDGE NGS HADES VISTA 1933 HGS MHADSJ VISTA 1933 ABER 1933 Height i Fixed Mixed O Mived C Weighted eghed None Mined tE hiked C Weighted C None eghed i one Select SN 110 and SN 111 and press the gt gt button These points will then be copied from the left hand list to the Selected Items panel Press the Close button You will see two points appear in your Network View If you do not see all the points you have selected this is probably because the map scale is too small causing some marks
113. ons will be examined All real observations that do not match the planned occupations given the above mentioned tolerance levels and other reservations will be placed in the unexpected sessions To see how close the planned and the real occupation times are go to the Sessions panel and right click on the session of interest The Occupation View window will be opened where the planned occupations are shown as blue hatched rectangles whereas the real occupations will be shown as blue bold rectangles If you push the Show whole network button you will see similar information about the occupations relating to other sessions shown as grayed rectangles 48 3 Import PINNACLE s Import Module is a tool that can be applied to a Network This means the user can access this tool by right clicking on a Network object and selecting the corresponding item from the pop up menu When the Import module is run for the first time the user will open the Import window where the scheduled Data Channels are shown A Data Channel is a file on a local or network disk or the address of a remote file or another source Data Channels the user establishes here represent an Import Schedule Normally such a Schedule belongs to a Network so that the Data Channels will as a rule provide information for this specific Network There are some exceptions to this rule though ephemeris data being one of them If the user imports files that conta
114. op the current adjustment iteration and examine the intermediate results obtained 106 Note that in the next iteration the program may well detect some new vector suspects The user should keep in mind that an interactive adjustment stops only when no more new vector suspects are found If the Accept button is pressed all of the vectors that have been identified as blunders will be used in the adjustment as if they are correct measurements Also note that prior to starting another iteration it is possible to update the adjustment mode for example switch from Interactive to Auto Each erroneous vector detected is marked in a unique color in the network view Rejected vectors are marked in red To describe the adjustment process in brief some basic information is displayed in the Analysis window recall that this is the right hand panel of the Network View Detailed information can be found in the corresponding adjustment report To obtain a verbose adjustment report open the subnet pop up menu and select the Report option see Chapter 8 7 3 Final Adjustment Adjustment Using Local Control This type of adjustment is performed to fit a given GPS vector network to local control Control data specifically control points positions are used as constraints and the positions of all the network points are computed in the local datum see Chapter 4 for how to handle control data It is strongly recommended to start a constr
115. ordinate System and Geord editor Mal ES Ellipsoid Datum Grid systems Units Geoids Comment M eters 1 unit ii Meters Abbreviatiory m New Edit Delete Import This window provides basic information about the selected unit namely its full name in the Comment field unit value measured in meters and its abbreviation The user can either choose a unit from the list box in order to view or edit its parameters or create a new one Only user defined units may be edited The following buttons are used in this window e New This button is used to create a new Unit New unit Name y Comment fo 1 unit i Meters Abbreviatiory f Cancel Help Enter the new unit name its full name optional value and Abbreviation not more then 4 symbols Then press OK to add the new unit to the database e The Edit button is used to edit a user defined unit After pressing this button the Edit dialog window is opened 69 Edit unit UserDet Mame METE Comment User defined Unit 1 unit SABE Meters S4bbreviatiory Jud Cancel Help Modify all or some of the displayed values if required Press the OK button to save the updated unit e Delete is used to delete the selected user defined unit e mport is used to import a Pinnacle Units file such files have the jff extension Once pressed this button will invoke a standard Open File dialog box This dialog box allows the user to select th
116. ou can open it from either the Network panel or the Subnets panel In the latter case you press the ial Show Whole NetWork button to visualize the entire network then follow the steps described at the beginning of this section Note that even if you delete a point from each subnet of the network this point will be retained in the list of network points You may use the Point List window for deleting a point or points from the entire network Go to the Network panel right click on the network node and select the Point List command from the pop up menu The following window will be opened Points List New Network A 50 101 2 43292955 OP 2248 IEA AE E 408 A CODORIDGE ar dpd OP 22 21 206 Erri E AL E 55 111 2044456130 2s UF Sra 0 J212 SA33 5092556711 541 100 22441933716 GPETA ESA 0 A e 46645 al Use Ctrl or Shift and the left mouse button to select the points to be deleted Then move the cursor to any of the selected points right click and select the Delete command from the pop up menu To delete all of the points located within an area go to the Network View window and mark off the area with an appropriate dotted line rectangle while holding the left mouse button down All of the desired points will be marked Move the cursor to any of the points click the right mouse button and select the Delete command from the pop up menu 2 1 5 Editing Points Obstructions In addition to editing the posit
117. ow 03093 gt 0923 Vector From 0909 to 0923 Type f dort dEast dUp C dlatdLon dHel C Ox Dy Dz C Azim Elev Dist dort 1505 7514 sigma 0 0015 dE ast 2897444 sigma 0 0019 dup 82 9747 sigma 0 0032 123
118. performing any action NB Please note that a project will not work from a CD ROM the files must be copied to the local drive and the read only property changed to allow write access to the files After you have pressed New you will be prompted to select a directory on your computer to keep your project database files These files are as follows PINNACLE dba 1 d through 7 d and 1 k The first is the database dictionary the others are the data and index files lt is recommended that no other files be kept in the directory you have selected for your project Also note that you shouldn t keep two different projects in the same folder From time to Select Directory Directory e program hles pinnaciedata gt e gt Program Files gt PINNACLE ES Day 280 0 Cancel Help time a file named vista taf will appear in the folder 9 Project 1 It is used by the PINNACLE database engine and can be removed unless the project is open Care Son should be taken that all the other database files ap aa remain intact If you lose any of them your whole Drives FE EEE I project will be lost The only exception to the rule is PINNACLE dbd you can copy this file from elsewhere if required Metwork E c SYSTEM The Control bar of the PINNACLE main window contains the buttons de New Project and En Open Project these allow the user to create open projects for the current PINNACLE session Th
119. perties Dialog Box An Engine Properties dialog box can be activated from different parts of the program The functionality of some of the data fields will depend on where the dialog box is accessed The engine s Restore Default button is used to reset the current settings to the predefined values as set in the sub module s source code For a Solution pressing the Restore Default button will restore default engine settings For a Vector pressing the Restore Default button will restore the engine properties specified for the corresponding Solution lf checked the Save As Default checkbox indicates that the specified settings will be used as default ones for the given Solution In turn if Apply To All Vectors is checked then the specified settings will be applied to all Vectors from the corresponding Solution no matter what particular settings might have been set for the individual vectors Static Engine STOP BASE Min Measurements Max Iteration Measurement Tolerance Convergence meters Contrast Threshold W Save ds Default 7 Apply To All Vectors Cancel 6 7 1 The Mode sheet The Mode sheet defines the data processing mode Restore Derant Process Mode defines what technique will be used for processing carrier phase measurements The following options are available e AUTO Program selects an optimal processing mode automatically e L1 amp L2 Processing dual frequency measurements recommend
120. r change Point s preliminary coordinates here either in Cartesian XYZ or geodetic Lat Lon H or BLH system Now create a point with name DODDRIDGE positioned approximately like this see the view below again you don t need to pinpoint the location exactly 12 Network Planning Subnet Network1 New SubNet A Raal 4 El al allT hla ul alm ells Ae IO 24500 06 a VUDDRIDGEE E 111 df 2205 DA IESO Oy gr 22 05 Longitude Jf 2208 TW 2 Aer SN After you have created some points without Control Data you still can attach Control Data to those points change the way they are attached or detach them For a detailed description of this procedure please refer to section 4 4 1 2 1 3 Creating Vectors Having entered your points you are ready to plan the corresponding vectors that will be measured and then computed by the Process Module Vectors may be entered using the a Enter line drawing mode button This toggles the line drawing mode between on and off When on the cursor changes to once it is close enough to one of the points Click the mouse when the cursor is on the first end point and drag the rubber band to the other end point of your vector Alternatively select the desired points by dragging a rectangle over them Then right click somewhere in the empty space of the Network view and select Planning Connect points from the pop up menu You have just created a vector or several
121. r ellipsoids for points Show vector lengths Expand items in analysis panel Show map For user reference an appropriate map can be used as a background when displaying the subnet in the Network View window Such maps are stored in and loaded from the corresponding map files Map files have the extensions map and dat note that the Pinnacle installation includes the map file coast_w map showing the world coastline To load a map press the toolbar s Load Map button and then choose the desired map file from the file list After the map has been loaded it can be turned on and off by means of the toolbar s Show Map button ve or with the help of the Show Map checkbox in the Network View tab Show error ellipsoids for vectors points For reasons of convenience and simplicity vertical errors and horizontal error ellipses are used in the Network View window to describe the accuracy of the network s vectors and points Error ellipsoids are converted from the XYZ system into the corresponding NEU system if necessary Then these ellipsoids are projected on the local horizon plane thus producing the error ellipses indicating the horizontal accuracy of the network s vectors and points In addition the error ellipsoids are projected on the local normal which shows the vertical accuracy estimates Expand items in analysis panel lf this checkbox is checked the analysis panel s tree is totally expanded 102 7 1 4 The Network S
122. results by employing advanced engine settings The Engine Properties dialog box allows default settings to be changed if necessary 6 6 1 The Solution Process Properties Specific engine properties may be set up for each particular Solution These will apply to all of the vectors and trajectories of the given Solution by default To specify engine properties for a Solution use the Process Properties command from the Solution menu and press the Properties button A dialog box which is unique to each engine will appear 85 Hew Solution Process Properties Ei ES Engine Options Mited Solution Type e La UU Ue SL LA D e Add Properties Remove Full Path IP Bin kinema eng Default Solution Type Static Mited Kinematic Engine 03 00 022 Static Static Engine 01 07 022 Kinematic Kinematic Engine 03 00 022 New Solution Process Properties Ei ES Engine Options Troubleshooting C None Show Residuals Plots C Force Scientific Mode 6 6 2 The Vector Process Properties Given a Solution each vector belonging to this Solution may have its own engine properties To specify engine properties for a vector use the Engine Properties command from the Vector menu This command allows the opening of a properties 86 dialog box which is unique to each engine The Vector menu is accessed by right clicking on the vector in the solutions window 6 7 The Engine Pro
123. rting and occupation filtering see Section 3 5 Such messages too are marked with the appropriate icons from the above table 3 3 3 Clearing Schedule To clear a Schedule press the E Clear Schedule button All Data Channels will be removed from the Schedule Alternatively you can right click somewhere in the Import window and select Clear Schedule from the pop up menu Note that this command remains disabled and the corresponding button remains grayed out while data import is in progress 3 3 4 Activating Schedule Manually To activate all the channels press the E Start button or select Start from the pop up menu that appears after right clicking somewhere in the mport window This will override any particular schedule assigned to the channels before so that these channels will be activated immediately See section 3 3 6 for how to assign a schedule to a channel lf data import is in progress the Start command is disabled and the corresponding button is grayed out 3 3 5 Aborting Import Press the Skip rest button to abort import If a file is being loaded at this moment you press this button just have a look at the progress indicator in this window s status bar to find out about the status then Pinnacle will first of all complete the loading of the current file however all of the other channels that have been activated but not started yet will be deactivated Besides all of the channels that have been deferred w
124. s 1 If the waiting occupation is for a point i e it is static then the point name should match that of the real occupation 2 l a specific receiver has been assigned to the waiting occupation this receivers ID must match the identification of the receiver used for the real occupation 3 If you have checked the Occupation times must match checkbox Dispatcher tab in Import Setup then the time intervals specified for these two occupations will be compared The intersection of the two intervals must not be less than half the length of the shortest one 4 When planning occupations the observation conditions such as satellite visibility and DOPs should also be taken into account For this Planning Tools are used To use Planning Tools for a single point Occupation go to the Raw Data Sessions panel select a Session that this Occupation is assigned to and open its tree Right click on the Occupation and choose Occupation Planning from the pop up menu The Occupation Planning window will then be opened lf you want to examine the observation conditions for a specific vector in other words the observation conditions for the subinterval common for both endpoints of the vector go to the Solution panel select the vector right click on it and choose Occupation Planning from the pop up menu The Occupation Planning window for vectors will be opened which will allow you to view the common obstructions for both endpoints or ed
125. s Ged n r Confidence Level bor WPW Test Disable rejected vector 3s Coz C eme e After setting the above parameters return to the Subnet menu and select Run 105 Adjustment The Network view window will be opened displaying a network view on the left and an analysis window on the right The analysis window shows all of the messages generated during the pre adjustment and adjustment stages If necessary elther part of the adjustment window can be resized by moving the splitter left or right lf either of the two automatic adjustment modes is selected the program will search for and process possible blunders without operator intervention lf Interactive is selected the user rejects or downweights the blunders if any For this purpose the Blunder detection results dialog window is used It lists vector suspects see the example window below Blunder detection results x PY test faled PY 311 93 bounds 47 92 33 86 Blunders 4 Mode for Mest Iteration fos2s 0924 2E 20 1 gute Melee te 5205 0909 E 1 95 11 0 Auto with Downweighting 0924 5255 1 19 41 0923 5254 E 1 12 47 Downweighting factor Default Help Reject Downweght Accept This window provides the following information e VPV test results the value of the statistic and the bounds of the confidence interval e Names of the bad vectors The rightmost character in the Vector c
126. s measurements are available is associated with a baseline DBBaseLine Computing a baseline results in a Vector DBVector Trajectory DB Trajectory is a set of points representing a rover s positions at consecutive epochs of measurement Trajectory processing results in a Fan DBFan which is a set of vectors connecting the base to every point in the trajectory Vectors and fans are grouped in a Solution DBSolution Note that Solution also defines which method of estimating vectors and fans is employed A Solution may contain only one estimate for each vector or fan Each baseline can be processed more than once but all of the obtained data will belong to different Solutions Note that the initial processing coordinates tor all of the vectors and fans in the project will be the same for all relevant Solutions 6 2 Engines The Process module serves as an interface between the database and specialized sub modules called engines Each engine is tasked to solve the problems within its specific domain The Static engine is intended for computing static vectors It supports the following processing modes e Static This allows the user to effectively process medium and long baselines even when the number of measured satellites is relatively low This processing mode normally requires long observation periods e Rapid Static This is to effectively process shorter sessions provided that the number of measured satellites is large enough
127. sabled and will not be activated the next time you run mport To enable a channel back just click the circle next to it or select Enable from the pop up menu appearing when right clicking the channel name 20 Import Network1 Sei ale BE A LC Wavadsprojects D oddridgesAIN EX Session2 SN11064u 990 oe i CO CAavadiprojectsi Doddridge RINES S ession245 0100844 99G srn O EL LAdavad projectsDoddodge RINES ezson5070084u 994 EE CAlavadsprojects DoddridgetR INES esson SOODDO84t 99G J occupations successtully filtered LC Wavadsprojects D oddridgesAIN EX Session2 50 1006 4 990 C Javadsprojects D oddridgeAINESSessione OODD O84 SSM EAdavad projecteDoddndge RINES esson 0000 O84 990 LC WJavadsprojects D oddnidgeSAIN EX Session2 SN11 0844 996 LC Wavadsprojects D oddridgesAIN EX Session2 5N1106 4u 99H C Javads projects D oddridgesAIN EX Session SN1106 4u 990 C Javads projects D oddridgesAINEX Session 50 100684 996 LC Javads projects D oddnidgeSAIN EX Session2 50 1006 4 99H C Wavadsprojects DoddridgeAINEsSessione SOODD O84 99G a 299 9 20 22 AM Import iteration finished file statistics follows o Occupation 50 101 2599 8 20 45 PMm 8 30 00 Pe 555 sec 112 epochs successfully filtered H g Nav Position 225726 4 5603027 9 2949821 9 Ams 20 31 A El OK Occupation DODORIDGE 325799 1 47 50 PM 8 41 30 PM 3220 sec 645 epochs successfully filtered coe E Nav Position 7
128. sition of the ellipsoid s center relative to the WGS84 3 three rotation angles in seconds relative to the WGS84 axes 4 scale factor in ppm 5 reference ellipsoid s name A user defined datum may be unspecified which means that only two parameters are assigned to the datum namely datum name and reference ellipsoid No transformation parameters are specified The user can specify them later after computing estimating a 7 parameter transformation between the WGS84 and this datum Note A coordinate transformation based on two different unspecified datums or based on an unspecified datum and a normal one is not valid The following buttons are used here e New allows the user to create a new Datum If this button is pressed the following dialog box appears 62 Datum New Mame Comment Unspecified Y parameters Dies om Dry Do m Dz om Ax 7 RY gt RE fo Scale jc tis ppm Ellipsoid name WGSS4 Cancel Help Enter the desired datum name in the Name field and then type in the desired values for DX DY DZ RX RY RZ which are all zeros by default For an unspecified datum check the Unspecified 7 parameters checkbox Select the desired reference ellipsoid from the Ellipsoid Name list box WGS84 by default Press the OK button to add this new datum e Edit is used to edit a user defined Datum After pressing this button the following dialog box appears
129. sive fields in the Local Time Data Editor for Occupation GPS Week Week Day Day Number day number within the year Julian Day Julian date GMT Greenwich Mean Time 2 4 3 3 Time Zone tab Local Time Date Editor for Occupation pl 2 a A R 97 597 59529 0 1 2 3 4 5 bb 7 8 3 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 TimeZones GMT GMT Offset GMT 03 00 Moscow l St Peters Hung Kazan Wold gad os ve pre AA 38 Time Zones When working in local time set the necessary time zone by selecting the appropriate Time zone option Otherwise choose GMT Note that this time offset will then be valid throughout Pinnacle GMT Offset this specifies the difference between Greenwich time and Local time 2 4 4 The Obstruction Window Before you start planning it may be worth your field team s effort to learn more details about the network to be surveyed It is not uncommon that there are critical obstructions trees buildings hills etc in the vicinity of the points to be measured so that you may well have problems caused by poor satellite visibility The field team documents such information in pre survey forms Pinnacle provides two print forms Form 1 Station Data Sheet E may be used to input preliminary survey information collected in field The user will enter this information in the database via the Obstruction window Form 2 GPS observation log is used while carrying out
130. st contains the Geoid Models names Once a model is selected the user will see the following features e Geoid Model Type e limitations on the use of this model All the Geoid Models presented in the list can be edited The Delete button allows the user to remove unnecessary models from the list The Import button is used to add new Geoid Models which are loaded into Pinnacle from an external data source to the Geoid Models list 5 8 2 Geoid Model Types Pinnacle supports the following three types of Geoid Height models e global e regional e local A Global geoid model is represented as a set of fully normalized coefficients describing the gravitational potential as a series expansion of orthogonal spherical functions Global models enable the user to compute geoid height for any point on the Earth 76 A Regional geoid model is actually an array of geoid heights specified for the nodes of the regular grid Regional models normally cover quite large territories For example a regional model may be applicable throughout a country A Local geoid model is a set of geoid heights specified for several pre defined points distributed within a limited area e g a project area in an arbitrary way sometimes irregularly and non uniformly Local geoid models are obtained by using the differences between the GPS observed ellipsoidal heights and the known orthometric heights when vertical control is available 5 8 3 Importing Geo
131. stem into that specified for the right hand panel Convert the coordinates the user has input from the right hand panel s coordinate system to the left hand panel s one gt Calculate a 7 parameter datum transformation S Print LA Print preview Es Print setup Af Set up Font The Calculate 7 parameters button is enabled only if the following two conditions are mel e more then 3 points are given and e one of the two systems is WGS84 Note that identical or common points may have different names when specified in the left hand and right hand panels lists Any two points occupying the same positions in either list are assumed to define one and the same physical point When lists differ in size the number of common points equals to the length of the shorter list 73 lf the calculation process fails the message Error in 7 parameters calculation appears lf the calculation is successful the results are shown in the Datum Parameters and Transformation Residuals window DX 00043330924 l DY 0 009268483167 DZ 0 008860917102 AX 6 9778678677e 05 Pr 1 440960906e 05 AZ 4 881417755e 05 scale 0 002106086083 Ellipsoid name INTL Meters O 000003 0 00000247 By default the transformation residuals are computed in the NEU system To change the NEU to the XYZ system right click somewhere in the Transformation Residuals panel and select the XYZ type The transformation resid
132. stment of the subnet see Chapter 7 e select and attach necessary control points with known orthometric heights by means of the Attach to Control point command from the Subnet pop up menu e once the control points are selected compute geoid heights Separations as the differences between the ellipsoidal and orthometric heights and then save the 78 obtained data as a local geoid model by using the Save as local Geoid command from the Subnet pop up menu e edit the newly created local model i e search for possible outliers which may be due to errors both in the measured ellipsoidal heights and in the vertical control and reject them if any The quality of a local geoid model depends on the following factors e accuracy of GPS measured ellipsoidal heights Note only their relative accuracy is of importance A common uncertainty e g a bias brought about in the ellipsoidal heights because of the use of rough point positions when performing a free network adjustment will not adversely affect the resulting accuracy e accuracy of vertical control used e density and geometrical distribution of the points included in the local model Note that quality height control is absolutely fundamental for obtaining a quality local geoid model lt should also be noted that such inadvertent errors as incorrectly entered antenna heights or inaccuracies and typos in height control data can bring about blunders in the local geoid model
133. ta meeting the settings of Coordinate Type Filter 7 3 2 Attaching Control Data to a GPS Subnet To attach control data to a GPS subnet click on any of the subnet s points in the Points to attach list The Control point items list s points will be automatically rearranged in accordance with their distance from the user specified subnet point starting with the closest control point Attach points to Control Point tems DODORIDGE 541 100 SN 711 m Pisne Fed C Weighted C Hied C Nons j Hegh Fwed D Weighted Co Heed C Nore Conte Point Na Control Data List Cocedinat SNT TEEN nos MADA soit 50 101 nos Nang Hep Note that even when a GPS point and a control point refer to the same physical monument the distance shown in the Control point items window may be up to several meters in magnitude since this value is computed with the use of point coordinates relating to different datums 108 Next the user should move the cursor onto the appropriate line as a rule this is the very first line in the list place the cursor on the distance icon and click on it By doing this a connection between the survey point and control point is established and the Attach button becomes accessible Before pressing the Attach button the user should define the status of the subnet s control data With the help of the radio button
134. the Advanced tab from the Properties for Subnet window see below In this dialog window the user may update the a priori errors of unit weight UWEs applied to both the vector network and control points Care should be taken in updating the UWEs properly The user is supposed to have enough information on the weights before changing them such data would comprise a posteriori UWEs estimated in the course of adjustment qualitative information on the control used intermediate results obtained in the previous Iterations etc Also if there is enough a priori information the user may enter some constraints on the transformation parameters determined on his her own To do this the Transformation parameter constraints group is used After all necessary adjustment parameters have been set a constrained adjustment can be started This looks very much like running a minimally constrained adjustment Note that there is one new feature here Properties for Subnet New SubNet General Pacometors Advanced Make dependencies Data source A proa Standard Error of Ure weigh Weetors f Reference ports y Transtomahon patsoele conshembs Translahice m Rotabon L E 1003 E 100105 N 100r N io y 1003 10 na o coe oe lf the user chooses the Interactive adjustment mode and some of the control positions 111 being used are marked as Weighted the Point Blunders dialog window will be opened showing a
135. the selected DB objects which can be of various types In the last case Report Generator receives both the DB address from the selected DB object and the DB path between the specific report type and the DB object Report Generator is activated by right clicking the menu s Report item in the Subnet panel Solution panel Session panel Network view etc Reports for SubNet Work Names Network Adjustment Summary Adjusted Point Coordinates Adjusted Point Coordinates in Selected System Network e Portrait Network Mew Landscape Measured Vectors Summary 4 7 2 Measured Vectors Summary Morth E ast Lp Measured Vectors Summar Distance Azinuth Eleyatiori Measured Yectors Residuals M4 1 2 Measured Yectors Residuals North E ast Up Measured Yectors Residuals Distance Azimuth Eleyvation Measured Vector Reiduals Histogram Measured Vector au Yalues Delete New Work neer File Hame CAPINNACLE SEIN Ae port SH Surmmar aql Browse Run to File Open Cancel Help Each report can be activated either by the Run default button or by the Run to File button In the first case report data is saved to a temporary file that will be deleted as soon as a new report is started or the user quits Report Generator In the second case the report data will be saved to the corresponding file The command Run default Run to File will start the processing of all the selected reports If the job name contains the file name
136. tistical information is presented in this window e Total number of vectors measured e Covariance matrix of the adjusted network e 95 and 99 circular errors e Major medium and minor axes of the 95 and 99 error ellipsoids To display such statistics right click somewhere in the window s client area and choose Options from the corresponding pop up menu A Matrix View Options window will be opened see the example below Mat View Options Shana in tabla Weetees cour m Sont ponts by none Sort points in directoey Cancel Help Choose the desired statistics from the Show in table list box and press the OK button In the Subnet Matrix View window the requested statistics will be displayed 7 4 2 5 Adjustment reports Adjustment reports provide detailed information on the adjustment results Reports are described in Chapter 8 of this Manual 115 8 Report Generator The main goal of the Report Generator module is the creation of various report forms including graphical information such as plots and diagrams and the export of data from Pinnacle lt is non static software which allows the user to modify reports while running Pinnacle Report descriptions are text files see the description of the SQL language In Pinnacle Report Generator fulfills two main functions First it serves as a global tool mostly used only as a compiler though Second it is used for processing
137. tor residuals SubNet 14 Transformation Parameters This report is available only when transformation parameters are estimated SubNet 15 Weighted Points Residuals Northing Easting Up This report is available provided weighted or mixed constraint mode has been used and weighted coordinates exist SubNet 16 Adjusted Networks BaseLine Accuracy Diagrams This report provides Baseline Accuracy vs Baseline Length Diagrams SubNet 17 Control Points Summary Report contains information about Control Points SubNet 18 Blue Book B blue dat Subnet Points are exported to an NGS B file Text mode SubNet 19 Blue Book G file G blue dat subnet Vectors are exported to an NGS G file Text mode SubNet 20 Points Export To Snap Station dat Subnet Points are exported to a Station SNAP file Text mode SubNet 21 Vectors Export To Snap Vector dat Subnet Vectors are exported to a Vector SNAP file Text mode SubNet 22 Points Export To GEOLAB apx Subnet Points are exported to a GEOLAB file Text mode SubNet 23 Vectors Export to GEOLAB vec Subnet Vectors are exported to a GEOLAB file Text mode SubNet 24 Points Summary B Pinn dat Internal PINNACLE report on Points Text mode SubNet 25 Vectors Summary G Pinn dat Internal PINNACLE report on Vectors Text mode 8 2 Session Reports Session 1 List of Occupations Report contains comprehensive information about Occupations occupation name start
138. trapolated is compared against the geoid height observed and the corresponding residual is computed 80 Geoid Yenfy Log TE 0 01 0 030 0 2 C2 0 09 0 025 3 8 Gh gt 0 02 0 028 0 8 GR 4 0 03 0 026 1 2 Os 0 05 0 074 3 9 GH e 0 01 0 030 0 2 Gh 7 0 02 0 030 D E E 0 07 0 023 3 0 Geoid venfication Failed TAVE He The computation results are presented in the Geoid Verify Log window This window lists the computed residuals the RMS values for the estimated heights and their ratios A large residual and ratio for a given point may indicate that e This point s geoid height is erroneous e This point is good but there one or more adjacent points whose geoid heights are erroneous those points adversely affect the given point e The given point is ill located which results in a big interpolation error this is the case when a point lies far from the other points of the local model Having analyzed this data the user decides which points should be excluded from the local model which points should be downweighted and which may be retained as they are The best editing strategy is as follows e to reject a suspicious point e to estimate how the residuals of the rest of the points will change taking into account the configuration of those points If the new residuals are considerably smaller than the original ones this indicates that the rejected point is erroneous indeed This procedure allows the user
139. tree panel In the leftmost panel Subnets right click in the empty space and select New Subnet from the pop up menu Give the SubNet a name or press Enter to accept New Network Then right click on its node and select Network View Set the scale of the map to an appropriate value and choose the desired area using the zoom buttons and scrollbars The coordinate grid and the Earth map will help you here For your reference the coordinates of the point under the cursor are displayed in this window s status bar If you dont see the map use the Load Map and a Map on off buttons Note that you can have selected a projection or a coordinate system see Section 5 3 for how to handle projections and coordinate systems that may be incompatible with the map used for the Network View In this case the map will not be 9 shown and the message box Coordinate system not supported will be displayed The projection can be accessed by right clicking in a blank area on the map and choosing Projection 1 2 1 1 Create Points Using Control Data Firstly you will have to create or import a Control Data List for your Network For a detailed description of Control Data Lists see Chapter 4 of this Manual In our example we will use one of the lists from PINNACLE s sample data This data was downloaded from an NGS site specifically http www ngs noaa gov datasheet html and put into the Data NGS Data Sheets subdirectory of your PINNACLE insta
140. trol Data List its context menu CatalogHeader allows the user to add a new control point to the list or export this list into a jcp file and edit the list s properties A control points menu CatalogPoint allows the user to add a new ltem for this point by using Grid Geodetic or Cartesian coordinates and edit the points properties A catalog items menu is used to edit the item s properties that is both the coordinates and when in the Data Source tab any additional data stored in an external file Once a point has been selected in the left hand panel the right hand panel s view is updated A Control Data Hew Network Op 6534 TIMBAL Ellipscoidal nonn EE Once a point is selected the right hand panel will display all of its Control Point Items together with their attributes Coordinate System Zone relevant for Grid System only Height Type Height system Lat North X Lon East Y Height Height Z Sigma Lat North X Sigma Lat East Y Sigma Height Z Data source New items can be inserted by clicking on a blank area in the right hand panel A Selected item or items can be deleted edited copied or marked with the read only or write only attributes 4 1 2 Import of Control Data There are four types of files that can be imported into Control Data Lists e NGS Datasheets htm if downloaded from the NGS website or dat if from an NGS CD ROM e
141. trol Point ltems containing its reference coordinates in a given Coordinate System 4 1 Creating and Editing Control Data Lists Control Data Lists for a Project or Network can be created manually by importing data from external files of different types or by exporting data from a SubNet 4 1 1 Manual mode To create Control Data for a Project or a Network right click on the node in the project tree corresponding to the Project or Network and choose Control Data from the pop up menu u Control Data New Network da x FAG pp There are two panels in the work area of the window Control Data List left hand panel and Point List right hand panel The left hand panel displays a tree of Control Data Lists for the Project or Network Each of these lists has a tree structure AA Control Data Hew Network IOJ x oh emm Import from Snap Import from Snap Import from Snap Import from Snap Import from Snap Import from Snap Import from Snap Import from Snap Import from Snap A A A A A A A A The right hand panel displays all of the points with their attributes relating to the selected Control Data List 94 Right click on a blank area in the left hand panel and select the New control data list option Control Data Lists Control Points and Items are objects and have context menus associated with them Throughout Pinnacle such menus are opened by right clicking on the corresponding object For a Con
142. ts Using Control Data ccccccccccooccnnnccnnnccncononnncnnnnnonononannnnnnnnnononannnennnnnononenano 10 1 2 1 2 Create Points Without Control Data ccooocnncccnnnccccoconnncnnnnnonononannnnnnnnononnnnnnennnnnonononans 12 Dee ES or O AMMO VCO IA O EN OM O e Pe o O RE E 13 1 2 2 What Is SHOWN In the Solutions Panel oooncccccccnccccconccncconnnnccoononcnnonononononononnonnnnonanonnnnnnnnninnns 14 1 2 3 Planning OCCUPATIONS occccccccooncnncconoononnnnnnononnnnonnnnnnnnnn na nnnnnn nan nnn nn ona nnnn nn nnnnnnnnnnannnnnnnnnnennnns 14 1 2 4 Establishing Data Channel s ui ccccccccssseecscccccsccsseuceeeccssssssueseseecessssaueeseeeceesssssuaeeseecesssssaaanssseeeees 16 A A y 17 A Pon 19 1 3 1 Establishing Data Channels and Activating IMpOTT oocccccccnonncnnccncooncnnccononcnnnnnnnnnncnnononanennnos 19 koa CAOS 0 0 0 bois 21 EEE A 22 Full Planning from Network Design to Field Work Schedule ooocccoooooooo00 24 2 1 PLANNING NETWORK POINTS ccccceeeeeeeeeeeeeeececeeessssssssseeeeeeeeeeeeeeaooogaeesssssasaseeeeeeeeeseeeaoooggansssesnnees 24 2 1 1 Creating new projects networks and SUDN8 IS oooooooncccnnnicccooconnnononoccnnnnanncnnnnnnnnnonanncnnnnnnnononanos 24 ate MPU OF CONU ONF ONO artis dicei n 25 Zi dade AIG NOW IPOHNS AA A O PE O O ohjuisedaveeniuanbalmiaNenddus 26 2 DICHAS DOING vercion isidro 27 2 hs Eang E COINS he cean deste ccueesrecestestatatiodsceapatguesceutc
143. ttached points list and then use the appropriate checkboxes in the bottom right hand corner of the Attach points to control point items window or press the Detach button Detached points will be replaced in the upper half of the window Note that once detached subnet points are no longer marked as attached in the Network view 7 3 3 Control Tie Analysis After control data are attached it is worth comparing the relative differential positions of the control points with the relative positions of the corresponding network points This allows the earliest possible detection of major errors both in control data e g typos in printed catalogs and GPS measurements e g incorrect or misused antenna height First the user should specify appropriate tolerances for the control tie analysis Open the Network View window and move the cursor onto the network view Then right click the mouse and choose Options from the pop up menu Select the Control Tie Analysis tab A dialog window will appear as shown in Section 7 1 5 above Two pairs of values are selected to be used in determining the tolerances for the points attached to control when comparing their control differential coordinates against the corresponding measured differential coordinates As it follows from the mnemonics the first pair of values defines the horizontal tolerance whereas the second pair the vertical tolerance see Section 7 1 1 lf the Show All Results checkbox is che
144. uals may be shown in table format For this press the En Show table button The following window will be opened Transtormation Residuals E ales ar pame ue veer raros lie AE 305 2 bee o Column width i i E asane TIE Z eno 2000 aereo isese faroe 5253 3 944E 07 1 054E 06 1 393E 06 1 791E 06 By default the residuals in this table are displayed in the same format that has been selected for the graphic representation To change the format right click somewhere in the Transformation Residuals window and select the format needed The analysis of the transformation residuals helps the user detect possible blunders in the WGS84 or local coordinate sets The user can identify the points having critical or abnormal residuals To check on a suspicious point exclude this point from both the lists and re compute the transformation parameters If the updated residuals look satisfactory and the problem appears to be fixed then this indicates that it was indeed a 74 bad point If the problem still persists the user should put the point back into the lists and then repeat the entire filtration procedure for the second worst point etc Note that this blunder detection mechanism proves effective only if the user has enough points to have redundancy and the points geometry configuration is good enough for example if the common points are uniformly distributed over the area of inter
145. ull namejoptional parameter e azone ora list of zones to be used Press the View Edit button to view or edit the grid system note that the button name actually depends on whether a pre defined or user defined system has been selected New is used to create a new grid system Once pressed this button invokes the following dialog window 64 New grid system Mame Comment one list of grid system lt Mew gt Comment rm lt lt o _o_oo gt S gt Datum name Projection name e Unit name NE E Hew E dit Delete Lancel Help Enter the new system s name and an appropriate comment Then fill in the relevant data fields in the Zone list group box e The Edit View button is used to view a pre defined system or edit a user defined system After pressing this button the Edit View dialog window is opened Edit iew grid system UserSystem Name x Sti CSCS Comment User defined Grid System one list of grid system _UserSystem Comment Ivto3E Datum name A s lt Ss Projection name THERE Unit mame Metes s S Zonel SM to SE Zones JE to 9E Hem E dit Delete Cancel Help 65 In this dialog window the user may update a user defined system s name or change its zones specified in the Zone list group box For pre defined systems the user can only view the zones e The Delete button is used to delete a user defined syste
146. unprocessed vector or a warning if the vector has been processed but the processing results are either obsolete or contain unacceptably large errors When a solution is tested the program displays an error if an enabled vector is found which has an enabled planned occupation lacking raw data or which has less than two enabled occupations e Subnet Solution Validation When a subnet is tested the program displays an error if the subnet is not adjusted or a warning if the adjustment results are obsolete this is the case when some of the adjustment parameters or input data have been modified When a solution is tested this is similar to the Input Data Validation test for subnets e Net structure test This verifies the geometry of the network i e it identifies the network s components that are isolated from each other isolated components or those spanned by a single vector bridge or point Junction point Network statistics are calculated which allows the user to compare the obtained results against the specified requirements e g NGS specifications e Loop Misclosure and Repeated vectors serves two purposes First this test generates vector loops and computes the corresponding XYZ or NEU misclosures 98 Second this test shows the XYZ or NEU differences between the multiple measured vectors repeated vectors relating to the same baseline To display misclosures for the loops or multip
147. usted SubNet 1 3 1 Establishing Data Channels and Activating Import In the leftmost panel of the Project Window right click on your Network s node and select mport from the pop up menu If you skipped the section Full Planning Method then first create a new project and Network as described above In our example use the data from Session2 of the sample data set Press the 3 Local button to find them using the standard Open File function Change the Files of type to all files and choose all of the files in the directory Session2 Select files for import ii E Look in E Session gt es EX ES Desktop ES My Documents El My Computer a 3 Floppy A Ea IC Program Files Jp 3 Pinnacle Data File name 3 Sample Data g A Cancel C Y hp y ot Removable Disk D Castles E F Su Network Neighborhood My Briefcase Online Services User Guides on CO Files of ty These files will be listed in Import Schedule ready to be imported into your database 19 Import Network A ES All el el A C Javad projects DoddridgeSAINES45 ession SN11084u 990 sie Ly C Javadi projects D oddridge RINEX Session D00D084t 994 pies i Ly El avad projects Doddridge RINE A Sessionl AD000084t 390 peas i Ly End avad projects Doddridge RINEX ASe son11511084t 996 cee E T End avad projects Doddridge RINES ession 5 N1104 59H pet i Ly LC WJavadsprojects D oddridgesF
148. ut files created with the help of the following three compression utilities zip gzip and Z Once an import file is identified as compressed the Import module unpacks this file and then forwards its contents on to the input filters The input filters are a set of dynamically loaded modules The user can check what specific filters are available in Pinnacle by examining the configuration file PINNACLE INI which is located in the Windows directory or by running Pinnacle s configuration utility CONFIG EXE see the directory where Pinnacle s binaries are kept When importing a file the mport module loads the input filters one by one until a filter capable of reading this import file is found Then this filter reads the import file s contents into the project database If none of the input filters can recognize the import file then the Format not recognized message is displayed The current version of Pinnacle allows the import of the following file formats JPS receiver log files Unlike all the other file formats supported these files are self sufficient providing all necessary data for Pinnacle s processing cycle RINEX observation and navigation GPS and GLONASS files Ashtech B E files These are observation and ephemeris files respectively Ashtech O files Unlike the above mentioned files O files provide processed vectors rather than raw measurements or ephemeris SNAP files These ASCII file are created by th
149. uter on which you are running PINNACLE Every time you change Agency and Processing Agency Code this updated information is written into PINNACLE ini It will then be suggested as default values for any new Project you create For user reference some additional information is displayed at the bottom of this dialog Dox 1 1 2 Creating Networks in Your Project In the Project window you can use the Es New Folder button in order to create Folders where your Networks are grouped or use the E New Network button to create a new Network for keeping your raw data vectors and data intended for the adjustment module Alternatively you can do this using the pop up menu which appears by right clicking on a node in the Project tree Note that these buttons and menu items remain grayed out as long as they dont apply To create a new Folder or Network you should first highlight an appropriate Parent Folder node or Project root node marked as Y Every time you create a new object in any of the Project Window panels another node which has a default name is added to the tree You are then prompted to edit this name in the same way as in Windows Explorer 1 2 Full Planning Method 1 2 1 Creating Subnets and Planning Points Vectors Open the Network by double clicking its node in the tree or by selecting Open from the pop up menu You can also use the al Open Network button Three more panels will appear to the right of the Project
150. utions panel there will also appear a tree of Solutions Vectors vector endpoints and empty Occupations for the corresponding Points The Place Vector in Solution dialog box has the checkboxes Set as defaulf and Always use default When Set as default is checked the Solutions that have been selected in the list will become the default When a new vector is input you will be offered the current list of solutions If you also check Always use default you will not be asked where to place the created vectors they will automatically be put into the default Solutions If you want to change the current default Solutions exit Line drawing mode and then enable this mode again 2 2 2 Deleting vectors While designing a network you can easily correct any inadvertent errors made in the course of planning For example you can delete erroneous or unnecessary vectors This can be done in the following ways A vector may be deleted from the corresponding solution by using the Solutions tree in the Solutions panel To do this move the cursor to this vector and right click on it then choose the Delete command 30 A vector may be deleted through the Network View window In a particular solution go to the corresponding Network View window move the cursor to the vector to be deleted and click the right mouse button to choose the Delete command from the pop up menu To delete more than one vector select the desired
151. utton to enter specific values of the projection parameters for the selected projection e For user defined systems the Edit View button allows the user to view and edit the zone highlighted However for pre defined systems this button allows the user to view zones only Edit iew zone for grid system UserSystem Mame zonel SW to 3E Comment Zone to 3E D atum name WGSS4 Projection name TMERC Transverse Mercator simple zone a Unit name eters Edit proj Cancel Help The user may edit the parameters displayed in this window or press the Edit View proj button to change or just view the current projection parameters The screenshot below is an example Transverse Mercator 67 Edit projection parametrs TMERC Transverse Mercator simple zone te E gt I Il rw le o jo Scale i Central Merndian Lar E N N rw le e E amm jo Lat f fy l u es lo E lo e lo E asti 50000 tt s North 50000 sts S Cancel Help 5 4 Linear Units of Measurement Press the main menu s System editor button and choose the Units tab to e view pre defined units e add edit or delete user defined units Pinnacle installation includes a list of predefined units which can be used but not modified or removed from the database User defined units can be added through the Units dialog box by means of the New button Only user defined units may be edited or deleted 68 Co
152. vectors by clicking them in Network View while holding down the Ctrl button Then move the cursor to one of the selected vectors and right click on it Finally choose the Delete command from the pop up menu To delete a group of vectors you may also use the Solution tree in the Subnet panel Expand the Vectors node and then check all the vectors that are to be deleted Choose one of those vectors move the cursor onto its icon and right click on it Finally choose the Delete command from the pop up menu When Show whole Network mode is on deleted vectors are marked with a dotted line in the Network View window All deleted vectors will be associated with the group Deleted vectors will not be displayed when the field Baselines without vectors in the Legend sub window has been set to off or the pop up menu s Hide option has been enabled in the Legend sub window by right clicking the corresponding vectors Setting the Show option in the Legend window back to on makes the deleted vectors visible again 2 3 Occupation Planning Two main tasks are fulfilled when planning occupations Once the desired points and vectors have been defined it is necessary to examine the expected observation conditions such as satellite visibility and DOPs This is done in order to find out the best timing for data collection at the specified points with an eye on the final quality of vector processing For this some traditional occupation plan
153. will be applied interactive or automatic based on either rejecting or downweighting erroneous data It is recommended to use the interactive mode In the Constraints radio button group choose among Fixed points Weighted points and Mixed If Fixed points is selected the adjustment will be constrained by control data whose Status is either Fixed or Mixed see the Properties for Item of Control Point window If Weighted points is selected the adjustment will be based only on weighted control that is only those control points will be used whose positions are defined as Weighted or Mixed If Mixed is selected Fixed and Weighted control points whose status is either Fixed or Mixed will be used as fixed and those marked as Weighted will be used with the appropriate weights applied The SystemiDatum list box is used to specify the coordinate system in which the data is adjusted and then presented in the corresponding adjustment report lf the Ignore other system datum checkbox is checked the adjustment engine will omit any control data specified in a coordinate system different than that selected from the System Datum list From the Geoid list box the user selects the geoid model that will be used to convert between ellipsoidal and orthometric heights The user may choose a global regional or local GPS derived geoid model If None is selected the actual geoid undulation is neglected specifically zeros will be used for
154. x of points not in loops 100 p elm 11 a PPM i If Show ey misclasure components e Show NEU misclosure components e Show misclosure masimum e Show misclosure average e f the Show All Results checkbox is checked the program displays in the analysis window all of the good and bad loops tested unless the total number of these loops exceeds the threshold value specified in the Maximum Number of Loops to Show field 99 Note that when a loop list is going to be truncated it starts with a yellow orange exclamation mark appearing in the analysis window Also a truncated loop list always ends in a warning message lf the Show All Results checkbox is not checked the loop list will contain all of the bad loops unless their total number exceeds the threshold value specified in Maximum Number of Loops to Show e The constant e in meters and the linear factor a in ppm define the tolerances for analyzing the misclosures of vector loops and repeated vectors The equation for tolerances is as follows T loop SORT Number of Vectors in Loop e a Loop Length e The Break on bad results check box indicates what occurs when the Loop Misclosure test is not passed If this box is checked and the test fails to meet the specified tolerances the program will interrupt further adjustment If this box is NOT checked the program will continue even if the test fails e Maximum number of vectors in loop T
155. y into Cache Folder and finally handles the copy as if it is a local file accessible via the Loca button To find out about where your Cache Folder resides and what application is called to download remote files see Section 3 6 of this chapter One of the formats a URL can take is file lt computer gt lt folder name gt lt file name gt 49 if the file of interest is located somewhere in your Network Neighborhood or file lt drive letter gt lt folder name gt lt file name gt for a local file For example file C Program Files PINNACLE Data Sample Data JPS Sitel JPS There is an essential difference between this way of adding a local file to a Data schedule and the way described in Section 3 1 above When a local file to be added to a Schedule is treated as a remote source then 1 This file s copy is created in Cache Folder and 2 This file may or may not be available on the local system at the time of planning the Schedule 3 3 Operating Your Schedule And Data Channels After you have added the desired channels your mport window will look like this lolx E Import Moscow ala el Be A im Pro grar Files APINNACL LE Data Sample Datar PSA Sitel JPS p Ly fle C Program Piles PINNACLED atas Sample Datas FS Site1 IPS 2s This window shows all of the channels you have established so far Also it provides some additional information on the channels 3 3 1 Enabling Disabling Data Channels

Pinnacle User`s Manual

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