User Guide:

Explore the features and functionality of RoboDot Touch. The guide contains all technical "how-to" for the RoboDot device itself.

Application Guide:

Learn how to integrate RoboDot Touch into various cases and workflows. It contains contextual "when and why" for RoboDot usage and includes "how-to" for third-party tool integration and workflow-specific procedures.

Powering on/off the RoboDot

To power on: Depress the main switch on the side of the RoboDot for half a second.

The unit will vibrate and beep and show a solid blue LED.

To power down: Click the same button for a fraction of second. The button is only responsive once the unit is done booting up.

The unit will vibrate, beep and flash the red LED.

If the unit were to become unresponsive, holding the power button for 4 seconds forces it to turn off.

Charging

Charge the device using a USB 3.0 port with 1A capability and a USB-C cable. It takes 3 hours to reach a full charge. The unit can be charged during use, and it will charge regardless of being on or off. When the charger is connected, the RoboDot will automatically turn on.

Charge is complete when the bolt on the battery indicator is off.

Only use approved chargers that are delivered with RoboDot

Status LED Colors

A status LED is available in addition to the touch screen and web UI. It provides a quick reference to the state of the RoboDot from a distance.

Registering

For the best user experience, register your RoboDot one Wingman before getting started. Registration is required for:

• Warranty service

• Firmware updates

• RoboDot Utility downloads

• Wingman Online Tools

Steps:

Follow the steps at the URL indicated on the boot screen. Register the RoboDot with the serial and key displayed on the boot screen.

The RoboDot Touch Screen UI is designed for rapid access to the unit's status without the necessity to connect or interface with additional devices or applications.

Home Screen

The Home Screen is the default view when the RoboDot device is powered on. It prominently displays the unit's IP address and status, providing users with an at-a-glance overview of the device's health and connectivity. A QR code is also accessible on this screen, allowing users to quickly load the web UI on a browser, simplifying the process of managing and configuring the device.

GNSS Screen

The GNSS Screen provides crucial status information related to satellite navigation, including the quality of the fix, which is important for ensuring accurate positional data. A QR code on this screen allows users to simplify the process of copying or sharing position information, making it convenient for note-taking or sharing with others quickly. This feature enhances usability by providing a streamlined method to disseminate vital GNSS data.

Settings Screen

The Settings Screen provides a clear interface for users to easily view and modify key settings. This intuitive setup improves efficiency and enhances the overall user experience by making essential controls available quickly without the need to deploy a Web device.

When making changes to settings using toggles or dropdown menus, it is important to note that these changes will not be saved until you press the Home button. Additionally, most setting changes will only take effect upon the next restart. This ensures that users can make multiple adjustments without them being applied immediately, providing flexibility to finalize changes before they are implemented.

Icons

Icons along the top of the touch screen serve as a quick status reference.

The web UI is the primary interface for interacting with RoboDot, offering comprehensive control and configuration capabilities from any connected device's web browser. This interface allows users to efficiently manage settings, download data, and monitor various system functions with ease. Meanwhile, the touch screen UI is primarily used to display status information, providing quick and direct access to essential real-time data and system alerts right on the device itself.

The main pages are:

Additional Resources

Specifications

RoboDot's flexible connectivity offers Wi-Fi, Bluetooth Low Energy (BLE), USB/Serial and Radio communication options. This ensures flexibility, allowing users to choose wireless or wired connections based on their specific needs. BLE offers quick, energy-efficient communication for low-power applications, while USB/Serial provides a reliable wired alternative for environments where wireless connections may not be ideal.

Wifi

RoboDot offers flexibility by functioning as either an access point or a station. When operating as an access point, it creates a local network that facilitates device communication without requiring an internet connection. This mode is ideal for local control and data exchange. However, if internet access is necessary, RoboDot can be configured as a station to connect to external Wi-Fi hotspots, thus enabling internet connectivity while maintaining its functionality and integration capabilities.

RoboDot as Access Point

When devices such as phones, computers, or controllers connect to RoboDot's Wi-Fi network, users can easily access its Web UI for configuration and management. Additionally, the RoboDot supports NTRIP Caster functionality, allowing for seamless real-time kinematic (RTK) positioning data transmission. This setup also facilitates TCP and UDP connections, enhancing network communication flexibility, enabling the integration of third-party applications, and ensuring the efficient flow of data within the local network environment created by RoboDot.

Setup

1. Power on the RoboDot device

2. Connect via PC or smartphone to Wi-Fi access point RoboDot_### (where ### is the device's unique serial number)

3. Type the IP address displayed on the main touch screen into a web browser to see the Web UI

Tips

• No password is required to join RoboDot wifi

• Don't use https. Just type the IP address into the address bar.

• RoboDot does not provide internet access but does create a local network.

• RoboDot Access Point allows for 1 client (Wi-Fi station) to connect at a time.

RoboDot as a Station

When RoboDot connects to a Wi-Fi access point such as a hotspot, home, or office network, it gains the capability for internet connectivity, which is crucial for certain functionalities. This method is particularly required when RoboDot engages in activities that require internet access, such as performing firmware updates, accessing VRS correction services, or enabling internet access for other devices that interact with RoboDot.

Steps

• Connect a device directly to the RoboDot_### Wi-Fi

• Use a web browser on your device to navigate to the IP address displayed on the touch screen

• Set up hotspot credentials in the settings page under the "Configure" form

• Click "connect now" to connect to the hotspot

• Enable "Connect on boot" in the settings page for automatic connection on startup for subsequent uses.

Internet access on browser

Some pages only work properly when the browser has internet access (e.g., Map page, Share page). Internet access is not strictly required for Base/Rover operations.

Using iPhone

iPhone can connect directly to RoboDot Wi-Fi while still enabling applications to use data for internet

Using Android

It's not possible to use internet data on Android while connected to RoboDot Wi-Fi. Connect RoboDot as a Station to the Android device's hotspot for full feature access

TCP

To send NMEA from RoboDot to other devices over TCP connection as a Rover, or to send RTCM3 corrections to other devices as a Base:

Enable the TCP Server in the settings page. The TCP server is on port 1000.

UDP

To send RTCM3 from RoboDot to other devices via UDP:

Enable UDP output and set your desired port in the settings page.

Bluetooth Low Energy

To send NMEA from RoboDot to other devices over bluetooth use BLE Rover mode.

Serial Outputs

The USB-C port provides CDC serial communication over USB. In RoboDot versions 3.1.16 and above, serial outputs are set automatically. Per this table:

The serial port should be configured to 115200 baud.

LoRa Input/Output

RoboDot starts up in base mode by default. It will automatically search for and set an estimated base position if "auto survey" is enabled in the settings page.

Setting a base point - Absolute Positioning

Absolute positioning uses a reference point or base station to accurately determine RoboDot's location before starting tasks. This ensures precision by comparing its position with known coordinates, improving the accuracy and efficiency of operations requiring high precision.

1. Manual Entry:

   • Enter coordinates in Status Page, Set Position Field

   • Format: DD.dddd or DD MM SS using

     • Use negative for south or west longitude
   • Enter pole height

     • Distance from the ground to the bottom or RoboDot

   • Select "Set as Entered"

2. With a VRS Solution:

Automatic Method

Manual Method

Setting a base point- Relative Positioning

1. Manual

   1. Click "Average from GPS" in Status Page, Set Position Field

   2. Position quality depends on the fix quality at hand

2. Automatic

   1. Enable "Auto Survey" in Web UI Settings

Releasing

If the base has moved, or to enable a new base position after the base has been surveyed in, use the Set Position form on the Web UI status page select "Release Position".

Alternatively press "Release" in the GNSS touch screen.

Sending corrections

RoboDot can send RTCM3 corrections to rovers in these ways:

1. Over the WIFI network NTRIP caster

2. Over Lora radio if installed and enabled in the settings page

3. Over the USB to serial port.

Using and Saving Known Points

RoboDot allows saving base points for reuse, reducing workload and potential errors during repeated operations at the same locations.

Saving Methods

1. Direct from Survey:

   • When base station is surveyed in

   • Click "Save For Later" in status page

2. Manual Entry:

   • Navigate to Positions page

   • Enter and save coordinates directly

Using Saved Positions

1. Place RoboDot at location

2. Navigate to Positions page

3. Select desired position by identifier

4. Enter pole height (distance from ground to RoboDot bottom)

5. Click "Set as Base Position"

NTRIP connections

When a Client/Rover/Drone connects to RoboDot for RTCM3 corrections.

Setup:

1. Connect the rover to the RoboDot's Wi-Fi or to the network that RoboDot is on.

2. Connect the rover to the NTRIP Caster with the following criteria:

• Host: As displayed on the RoboDot Touch screen.

• Port: 10000

• Mount Point: Arbitrary

• User: Arbitrary

• Password: Arbitrary

RoboDot connects to internet server/caster (VRS)

Set up hotspot credentials in the settings page Set the RoboDot to automatically connect by selecting "Connect on bootup" Set the credentials to your VRS service Enable your hotspot and restart RoboDot or click connect now under hotspot

LoRa Radio

When operating as a base, if the LoRa radio is enabled, the RoboDot Touch will transmit correction data to any rovers or repeaters tuned to the same LoRa frequency. This feature facilitates real-time data exchange, ensuring that all receiving devices can benefit from the high-precision GNSS corrections provided by RoboDot.

Data Output

RoboDot Touch is designed to seamlessly integrate with various systems by automatically outputting RTCM3 data over the USB/Serial connection. This feature ensures that high-precision GNSS corrections can be efficiently transmitted to connected devices without additional configuration.

BLE rover mode is utilized when the RoboDot Touch is intended to operate with BLE applications. In this mode, the WiFi access point and web UI are disabled, restricting access to these features. To exit BLE rover mode, one must change the boot mode through the touchscreen settings page.

When BLE rover mode is active, your app should connect to the Touch_### advertisement to establish communication.

BLE Devices

In BLE rover mode, Android OS typically requires devices to first pair with the smartphone before establishing a connection. This step involves navigating to the Bluetooth settings on the Android device, locating the RoboDot Touch, and completing the pairing process. In contrast, iOS devices do not display the RoboDot Touch in the Bluetooth menu for pairing. Instead, the iOS application utilizes the Core Bluetooth framework to discover and connect to the device directly, streamlining the communication process without the traditional pairing steps.

Data Output

In BLE rover mode, the RoboDot Touch outputs NMEA data over the Nordic UART characteristic, which serves as a key communication channel for transmitting standardized GPS data to connected applications. Meanwhile, it also supports the reception of RTCM3 correction streams, which enhances the accuracy by providing differential GPS correction data. This integration ensures that the RoboDot Touch maintains high precision in its positioning data, essential for applications requiring reliable and accurate location services.

Firmware version 3.2.7

Touch Screen UI: Taking Control to the Next Level

Say goodbye to the days of deploying separate web devices to manage your RoboDot! The new interactive touch screen UI puts more power directly at your fingertips. Now you can:

• Adjust boot settings on the fly

• Connect to WiFi or VRS networks instantly

• Start and stop recording with a simple tap

• Average or Release a base position

• Configure many of the settings previously only available on the Web UI

Expanded Compatibility

Interface with your favorite GIS and Survey applications more easily than ever before with improved connectivity. A new BLE Rover mode has been created for simplicity and stability.

VRS Reconnection

When RoboDot Connects to the VRS as a client, if there is any disconnection it will automatically atempt to reconnect.

Enhanced Navigation

Experience a fresh and snappy web UI that enhances user interaction with modern design and intuitive navigation, providing a seamless experience across all devices.

Linking RoboDots

RoboDots can connect over the internet using RoboNet to deliver RTK corrections.

The LoRa Radio feature is available on the device only if it has been ordered as part of the setup. LoRa facilitates communication between RoboDots over medium distances, reaching up to 1km. This capability not only enhances standard operations but also supports unique applications and workflows. At its most basic, LoRa can establish rover-to-base communications between two RoboDots without requiring an internet connection, thereby providing flexibility in deployment and operation. The LoRa radio applies in Base, Rover and Repeater modes.

Features

• Range: Up to 1km line-of-sight

• Automatically transmits RTCM3 in Base mode

• Automatically receives corrections in Rover mode

• Frequency: 915MHz (factory default)

Setup

• Connect the 900mhz antenna to the rear of the Robodot Touch

• Enable/disable in the Web UI settings page

As a repeater RoboDot will receive corrections over LoRa and make those available over the local NTRIP caster thereby extending correction range up to 1km between base and rovers.

Entering Repeater Mode

1. Enable Lora radio in settings

2. Select repeater as boot mode

3. Restart device

4. Device maintains repeater function until boot setting changes

Requirements:

• Two RoboDots minimum

• Both need LoRa radio capability on the same channel

• One requires repeater functionality

Deploying

1. Maintain single base reference with lora enabled

2. Connect a rover to a repeater's NTRIP

Rover mode is utilized for taking point measurements using Real-Time Kinematic (RTK) positioning. For RTK to function effectively, a correction source must be available to provide the necessary data to the rover. This ensures that the rover can determine its position with high precision relative to the base station.

Entering rover mode

1. Select "Make Rover" in Web UI status page

   1. Or set boot mode to Rover in Web UI settings page

2. Navigate to Rover Page for location marking

Correction sources accepted

1. NTRIP casters over the internet (Virtual Reference Stations VRS)

2. Lora Radio (Corrections sent over radio from a RoboDot base station)

3. CORS stations (for postprocessing using PPK Rover Mode)

4. Corrections over BLE

5. Corrections over TCP port 1000

6. Corrections over Serial* (Contact Us)

Marking a location

1. On the rover page, enter rod height

2. Optional: Add location identifier

3. Select "Mark Location"

Points are saved in a shot (.sht) file which is a comma separated file with the following values:

Lora Radio

If the lora radio is enabled in the settings page, RoboDot will receive RTCM3 via Lora from another RoboDot in Base mode on the same frequency, enabling centimeter level precision relative to the base.

Recording Observations

One of RoboDot's main features is its capability to record GNSS observation data, which can serve as both a backup and a primary source for post-processing workflows. This is especially useful for ensuring data integrity and accuracy during field operations. The recording activity is confirmed via a green indicator light, and users can also verify the status through the Web UI or the touch screen display. This dual confirmation method enhances the reliability of data recording, making it an essential tool for GNSS data collection and management.

Filename format: dot###m#d#y#h#m#s#gpst (in GPS time indicating the start date of the record)

The observation file extension is .rub. It should be converted to RINEX using the RoboDot Utility Software or via Wingman Tools online portal.

Setup

The RoboDot device offers flexible recording trigger options to accommodate various user needs. First, the Auto-start feature with "Record on Boot" enabled allows recording to commence automatically once a GNSS lock is acquired, ensuring seamless data capture without manual intervention. This is particularly advantageous in scenarios where immediate data recording is crucial.

Alternatively, users can exercise manual control over the recording process through the Rec/Stop button available on the Status and Rover web pages, providing more granularity and control to the operator. These options make the device versatile and adaptable to different operational demands.

Recording Shots

File Access

To download project files, access the Web UI and navigate to the Files page. There, you can download files such as .rub and .sht for further processing or analysis. These files can also be shared with Wingman to facilitate company-wide use, streamlining collaboration and ensuring all team members have access to the necessary data.

Downloading

Location: Web UI, Files Page

File types:

• .rub: Raw observations

  • Convert to RINEX for post-processing with RoboDot Utility

  • Used in post processing workflows

• .sht: Position data (Rover mode)

  • Contains rover shots generated by "Mark Location"

  • Also created for base points

  • Comma separated text file.

Sharing Files

In the Files Page, files can be uploaded to the Wingman portal by selecting the desired file and clicking "share files". Follow the instructions on the share page.

Wingman can email you a copy of the file and submit observation files to Opus.

The device supports three primary operational modes, which can be set as default boot modes. Users can configure these settings to ensure the device always starts in the preferred mode.

Fix quality indicators

Understanding fix quality is crucial for all operational modes. RoboDot provides several fix quality indicators that represent different levels of positioning accuracy:

Importance in Different Workflows

For real-time operations requiring high precision, a Fixed solution is generally desired. For post-processing workflows, collecting data with at least a 3D Fix can be sufficient, as accuracy will be improved during the PPK process.

Base Station Considerations

When operating in base mode, establishing an accurate surveyed position is critical for overall system performance where absolute positioning is desired. The quality of the base position directly affects the accuracy of any rovers using corrections from this base.

Servers

The Robodot Touch is equipped with two types of servers: a VRS caster and a TCP Server. The VRS Caster is the most commonly used, providing correction data to rovers when functioning as a base. The TCP Server, on the other hand, offers flexibility by operating either as a rover or a base. When configured as a rover, it sends NMEA data and receives RTCM3 corrections. As a base, it transmits RTCM3 data. It's important to note that only one server can be active at any given time, either VRS Caster or TCP, and users can switch between the two through the settings available in the web UI or the touch screen settings.

The antenna phase center (APC) is located 9.4cm (0.094m) from the bottom of the RoboDot.

This distance is available on the RoboDot Touch Screen settings page.

Warranty

Robota LLC 5015 Voyager Dr #7 Dallas, TX 75237

Known Issues

• Orange colored RoboDot's dont have serial in capability. This feature was added later with the white colored RoboDot.

DJI Drones

Updating RoboDot Firmware

The RoboDot Touch firmware can be updated over the internet. It is recommended to regularly update your device to ensure you have access to the latest features and fixes. Here’s how you can update your RoboDot:

1. Connect RoboDot as a Station to the internet via a hotspot or office network.

2. Click "Get Updates" under the about section in the settings page.

3. When the Updates page loads click, "Software Update"

4. Wait for the update process to complete and reboot the RoboDot.

Note: Older units may need to be mailed in for updates.

End User License Agreement

1. License Grant: This product includes software that is licensed, not sold, to you by Robota LLC. You are granted a non-exclusive, non-transferable license to use the software solely with the associated hardware.

2. Restrictions: You may not (i) copy, modify, or distribute the software; (ii) reverse engineer, decompile, or disassemble the software; (iii) use the software for any illegal purposes.

3. Ownership: The software and all related intellectual property rights remain the property of Robota LLC. This license does not transfer any ownership rights to you.

4. Limitation of Liability: Robota LLC shall not be liable for any damages arising from the use of this product beyond the purchase price of the product. By using this product, you agree to the terms of this EULA.

5. You may transfer your rights under this End-User License Agreement (EULA) to another party only if you transfer the device, the software, and all accompanying documentation, and provided that the receiving party agrees to the terms and conditions of this EULA. Upon such transfer, you must cease all use of the software and remove any copies installed on your devices. You must notify Robota LLC of the transfer to ensure the new owner’s rights and access to updates and support.

6. This End-User License Agreement (EULA) is only valid for individuals who have lawfully obtained the device and accompanying software. Any use of the device or software obtained through illegal means, including theft, is strictly prohibited and constitutes a violation of this agreement and applicable law. Robota LLC reserves the right to disable or limit functionality of the device and software if it is reported stolen, and will cooperate with law enforcement authorities to recover the stolen property and pursue legal action against the perpetrator.

Regulatory Statements

This device complies with Part 15 of FCC rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference and (2) this device must accept any interference received, including interference that may cause undesired operation

RoboDot offers a range of applications, prominently featuring its integration with drones as a local RTK base station, eliminating the need for an internet connection while providing very short baselines. Additionally, RoboDot supports long-range operations through its repeater mode. It facilitates the collection of ground control points in three different methods, allowing for versatile and adaptive workflows that can be combined based on specific application requirements.

RTK Drone Integration

Flying drones with RTK GPS has benefits in surveying and navigation. When surveying, images will be geotagged with accurate images relative to the base position.

First connect the controller to the RoboDot wifi, then connect or configure the Custom RTK network in the controller. Use the following credentials:

• Host: The IP on your RoboDot screen, typically 192.168.4.2

• Port:10,000

• Mount Point: X

• User: X

• Password: X

Drone controllers with web browsers can be used to access the Web UI.

Benefits

• Accurate image geotagging

• Enhanced navigation

• Local base advantages over online VRS

Setup Options

1. Relative Positioning:

   • Place RoboDot

   • Connect drone controller to RoboDot Wi-Fi

   • Use Auto Survey or Average from GPS

2. Absolute Positioning:

   • Follow relative steps

   • Add base position coordinates

   • Option: Connect via shared access point

3. Shifting:

   • Operate under Relative Positioning steps

Long Range Operations

When a project's scope is too vast to be managed from a single point, mobility around the site becomes beneficial. However, relocating a local base station and re-establishing it at a new site can be cumbersome. Moreover, moving the base station may introduce errors into the project. Therefore, it is often better for all rover and drone data to refer back to a single base point. In such instances, RoboDot can be utilized in Repeater mode to increase the operational range to up to 1km.

Ground Control Points

Ground control points are commonly used in photogrammetry for map correction and referencing. GCP coordinates can be obtained in many ways including:

RTK Drone and GCP Collection Combined

Example: RTK Flight with GCP Collection post flight

1. Follow the RTK drone integration steps

2. Complete drone flight

3. Select the appropriate Base Reference:

   1. Single RoboDot options:

      2. Record the Rover observations for PPK processing

   2. Dual RoboDot option:

      1. Use a second RoboDot as Rover with Lora Radio to reference the base

4. Collect GCPs with the Rover

Device Placement

The RoboDot's physical placement is crucial for optimal operation:

• Requires unobstructed sky view for satellite reception

• Must be stable and secure as a base station

• For absolute referencing workflows, must maintain consistent position over a specific point

Mounting Options

Tripod Mount

• Uses 1/4-20 thread for photography/lighting tripods

• Ideal for elevating device in relative positioning modes

• Requires adapter for 5/8-11 surveying poles

• Recommended: Surveying bipods/tripods for known point positioning

Vehicle Mount

• Magnetic mounts available for vehicle attachment

• Note: Vehicle movement can affect operation

• Not recommended for precision work

Ground Placement

• Direct ground placement possible

• Use stencil to mark operation point for reference

Fix Quality Indicators

RoboDot Utility is a set of handy tools for post processing. Download it via Wingman

Overview of features

• Convert RoboDot .rub observation files to RINEX

• Correct Rinex File Antenna Position

• Offset Image Coordinates

• Post Process Rover Positions

RUB File to RINEX Conversion - Create Rinex

1. Download the .rub file from RoboDot

2. Browse for the .rub file

3. Click "Create" to generate observation files

4. Two file types are generated:

   • *_opus.o: GPS-only format for OPUS submissions

   • *_all.o: All constellations for other processors

Offsetting coordinates in geotagged images

Obtain the accurate position of the operating point using a post processor like OPUS, NR-CAN or AUSPOS then use the offset image tool to shift imagery to the correct reference point.

Steps

1. Download observation files from the RoboDot (RUB format)

2. Convert the files to Rinex

3. Upload the Rinex to a PPP service like OPUS

4. Launch the tool and populate the original Rinex file plus the OPUS result

5. Start the process optionally selecting a new output directory.

PPK Rover processing

When the RoboDot is used as a PPK rover, it must be recording observation data. When a location is marked on the shot list page, a new .sht file is created. Both of the rover’s .rub and .sht files need to be downloaded and applied to the PPK Rover tool. A base observation file must be obtained from a second RoboDot or alternate base station. When the tool has completed the process, a new .sht file is created with corrected position data.

Steps

1. Download rover's .rub and .sht files.

2. Obtain a base observation file.

3. Apply files to the PPK Rover tool

*Internet access is required for orbit data download in version 2.4.10 and below.

Geographic Information Systems (GIS) have traditionally relied on low-accuracy GNSS for creating map layers. Nowadays, users can opt for centimeter-level accuracy with RTK GPS, which has become more affordable and is in demand for precise projects. Consequently, RoboDot is a viable option for cost-effective and accurate GIS operations.

NMEA sentences are transmitted from RoboDot to GIS applications through TCP, Bluetooth (LE), and Serial connections.

RoboDot should be set up as a Rover when used with GIS and Surveying applications

Compatible Applications

RoboDot expands its functionality by interfacing with a multitude of device applications to replace their internal, often inaccurate GPS systems. Through robust connectivity options like Bluetooth Low Energy (BLE), Serial, and TCP, RoboDot offers versatile integration possibilities. For instance, popular GIS and surveying apps can effortlessly connect via these protocols to leverage RoboDot's centimeter-level accuracy, enhancing the overall mapping precision. Many applications share similar integration interfaces, ensuring that RoboDot can seamlessly maximize operational potential across various devices, whether through a WiFi network, BLE, or Serial connections.

SW Maps GIS is a free mapping application that integrates real-time GNSS data for accurate field collection. When coupled with high-precision GNSS systems, it delivers reliable location data essential for surveying, agriculture, mining, construction, and environmental projects, minimizing errors and improving resource allocation across professional applications.

SW Maps for android offers two connection methods for integrating with RoboDot, Serial or Bluetooth LE.

Setup

Unlike the iOS version, the Android version of SW Maps offers the flexibility of establishing a serial connection as well as Bluetooth Low Energy (BLE) for integrating with devices like RoboDot. This additional connection option often requires a USB-C to USB-C cable, allowing users to connect directly via USB Serial. Depending on your specific requirements, you can choose between the high-speed reliability of a serial connection or the convenience of wireless BLE. Choose the method that best aligns with your device compatibility and operational needs.

While SW Maps offers robust connectivity options such as direct serial and Bluetooth Low Energy (BLE) connections, it can also be used alongside the GNSS Master application for enhanced functionality. Integrating with GNSS Master may provide additional connection methods. However, utilizing GNSS Master is not essential.

Serial (Recommended)

1. Select External GNSS Connection

2. In connection mode, select USB Serial

3. Set baud rate to 115200

Bluetooth LE

1. Enable RoboDot Bluetooth in Web UI settings

2. Pair RoboDot Touch with the device first via android settings

3. In SW Maps, select External GNSS Connection

4. In connection mode, select BLE

5. Select paired RoboDot device and connect using "Generic NMEA"

6. Finally configure the NTRIP Client in SW Maps

In this configuration, the RoboDot (acting as a rover) connects to the Android device using Bluetooth Low Energy (BLE) or Serial. The Android device, which generally has internet connectivity, then connects to the Virtual Reference Station (VRS) to receive RTK corrections. These corrections are subsequently relayed back to RoboDot, enabling it to achieve precise positioning accurate enough for applications that demand higher location precision.

GNSS Master enables any Android app using GPS to access RoboDot's high-accuracy positioning. Android apps that do not support external GNSS natively but can work with GNSS Master include:

• ArcGIS Field Maps

• Google Maps

• Apglos

• Google Earth

• Avenza Maps

• KML/GPX tracking apps

• Matidor

• Most navigation and mapping apps using Android location services

Android Setup

1. Install GNSS Master

2. Enable Developer Mode on Android device

   1. In Settings, About: Find "build number"

   2. Tap "build number" several times

3. Turn on Mock Location setting

   1. Find the newly created Developer Options in Settings

   2. Look for "Allow mock locations" or "Select mock location app"

   3. Select GNSS Master as location source

4. Run GNSS Master and your GIS application

GNSS Master Setup

1. Under Status

   • Turn on Mock Location slider

2. Under Connections, GNSS, select and connect the preferred an input source:

   • Serial

     • 115200 baud

   • TCP

     • Use the IP on RoboDot screen, Port 1000

   • BLE

3. Under Connections, Corrections, configure and connect the correction source:

   • Typically an internet based VRS

In this configuration, the RoboDot outputs GPS data to the Android tablet, effectively using the tablet as a relay for data communication. The tablet is responsible for sending RTK corrections back to the RoboDot, functioning as a rover. Leveraging its internet connection, the tablet connects to the VRS (Virtual Reference Station) to acquire the necessary corrections, ensuring high accuracy in positioning. This setup allows the RoboDot to operate without requiring its own direct internet connection, as all data transmission and correction management are handled through the tablet.

Intro

RoboDot interfaces with QGIS to ensure precise GPS coordinate tracking by integrating its output with QGIS's mapping capabilities. By connecting RoboDot to a PC through the specified serial port setup, users can seamlessly transmit GPS data to QGIS. This connection allows for real-time marking and plotting of points on geographic maps, enhancing accuracy in spatial data representation. This integration transforms RoboDot into a powerful tool for geographic analysis and precise location pinpointing, leveraging QGIS’s sophisticated GIS tools.

PC Setup

Connection: Serial port Setup:

1. Connect via USB

2. Configure GPS panel:

   • Select serial device

   • Choose COM port

   • Connect

RoboDot Setup

For the highest accuracy in your RoboDot setup, enable it to connect to a Wi-Fi hotspot and a Virtual Reference Station (VRS) for corrections. This configuration facilitates Real-Time Kinematic (RTK) level precision, significantly enhancing the positional accuracy beyond what is possible with standard GPS alone. By leveraging these network connections, RoboDot can achieve highly precise geolocation data, essential for tasks requiring exact positioning.

Static Observation Mode

Primary function for establishing accurate survey points. Two workflow options:

Pre-Survey Workflow

• Secure point before additional operations

• Use for drone mapping/rover shot baselines

Post-Survey Workflow

• Begin operations immediately

• Determine point later via PPP

• Adjust previously acquired coordinates

Post-Processing Workflow - Precise Point Positioning (PPP)

When collecting GCPs or surveying a point ahead of rover operations.

1. Collect minimum 2 hours of observations at control point

2. Submit rinex file *_opus.o to NOAA's OPUS with:

   • Antenna type: NONE

   • Height: Pole height + 0.094m to get the ground elevation

Base Station Mode

RoboDot provides Real-Time Kinematic (RTK) positioning in two accuracy types:

Relative Positioning

• High accuracy relative to base station

• Suited for local survey work

• Does not require absolute coordinates

Absolute Positioning

• Requires known point coordinates

• Reference options:

  1. Pre-surveyed point

  2. Real-time corrections from:

     • Another positioned RoboDot

     • Virtual Reference Station (VRS)

Rover Mode

Applications include:

• Ground control point marking

• Check shots

• Point surveying

• Geographical Information Systems

Repeater Mode

Considerations

• Terrain and obstructions that may reduce effective range

• Testing range before critical operations is recommended

Applications include:

• Large area mapping

• Operations with line-of-sight limitations

• Operations that require multiple simultaneous rovers from a single source

  • Drone mapping while collecting GCPs

To enable downloads, first sign up, then register your product by adding hardware in the dashboard.

Survey123, an ESRI GIS app, offers robust data collection and analysis capabilities with seamless integration across the ESRI ecosystem. When combined with RoboDot, this solution enhances geospatial accuracy by improving feature and point referencing, enabling precise data collection for professional decision-making applications.

Setup

Survey123 for iOS enhances geospatial data accuracy by allowing users to replace the device's internal GPS with a more precise external source via TCP connections. This feature enables connection to systems like RoboDot, ensuring highly accurate location data, which is crucial for precision in professional applications.

The Survey123 device must be on the same network as the RoboDot for this connection to work.

1. Enable RoboDot TCP server in the Web UI settings page or touch screen settings.

2. In Survey123, configure the provider provider:

   • Select "Network Connection"

   • Use RoboDot IP displayed on the screen

   • Use Port 1000

3. For VRS corrections to RoboDot

   1. Set up the hotspot on RoboDot and connect to it

   2. Seet up the VRS on the RoboDot and connect to it

In this configuration, Survey123 will attempt to establish a connection with RoboDot Touch over TCP to facilitate advanced geospatial operations. When RoboDot has internet access, it can connect to a Virtual Reference Station (VRS) to enable Real-Time Kinematic (RTK) Fixed modes for superior accuracy. As Survey123 does not include an NTRIP client, users must utilize the RoboDot NTRIP client instead. To achieve optimal positioning accuracy, ensure RoboDot is connected to the internet and properly configure a VRS. This setup enhances data precision, supporting critical decision-making tasks with reliable geospatial information.

QField is an open-source mobile GIS application that extends QGIS functionality to field data collection on Android, iOS, and macOS devices. When paired with RoboDot Touch RTK GNSS receiver, QField delivers centimeter-level positioning accuracy through TCP connectivity, enabling precise geospatial data capture for professional applications. This integration makes high-precision mapping accessible and efficient, with RoboDot providing real-time kinematic positioning while QField offers intuitive data collection interfaces and seamless synchronization between field and office environments.

Setup

The QField device must be on the same network as the RoboDot for this connection to work.

1. Setup RoboDot to boot as a Rover

2. Connect RoboDot as a Station to a Wi-Fi hotspot and connect to correction source.

3. Enable RoboDot TCP server in the Web UI settings page or touch screen settings.

4. In QField , configure the positioning device:

   • Under Settings, Positioning

   • Use RoboDot IP displayed on the screen

   • Use Port 1000

Glossary of terms

Aerotriangulation

Aerotriangulation is a photogrammetric method of determining the geometric properties of objects from photographic images, especially for mapping and modeling purposes.

Antenna Phase Center

The point in an antenna where the GNSS signal is considered to be received, crucial for precise positioning calculations.

Base Station

A Base Station is a GNSS antenna and receiver set up as a reference specifically to collect data to be used in determining precise rover positions.

Baseline

In GNSS surveying, the vector distance between two GNSS receivers simultaneously tracking the same satellites.

BeiDou

A global navigation satellite system developed and operated by China, providing positioning, navigation, and timing services.

BIM

Building Information Modeling is a process involving the generation and management of digital representations of the physical characteristics of sites.

BIMs

Building Information Models are digital models that support decision-making regarding a built asset.

CAD

Computer-Aided Design is the use of computers in the creation, modification, analysis, or optimization of a design, typically used in reference to 3D modeling of physical objects.

Cloud Point

A set of data points in space produced by 3D scanners or photogrammetry, representing the external surface of an object or terrain.

Control Point

A point on the ground with known coordinates used to georeference and align spatial data accurately.

CORS

Continuously Operating Reference Stations are networks of GNSS receivers that provide real-time correction data and support high-accuracy positioning.

DEM

A Digital Elevation Model is a 3D representation of a terrain's surface created from terrain elevation data, excluding objects like buildings and vegetation.

DOP (Dilution of Precision)

An indicator of the quality of a GNSS position considering the geometry of the satellite constellation relative to the GNSS receiver. A low DOP value is preferred. Common DOP types are:

• GDOP - Geometric Dilution of Precision considers the combination of vertical, horizontal, time, and position errors.

• HDOP - Horizontal Dilution of Precision represents the effect of satellite geometry on horizontal position accuracy.

• PDOP - Position Dilution of Precision combines the horizontal and vertical DOP.

• RDOP - Relative Dilution of Precision measures the relative positional error between two receivers.

• TDOP - Time Dilution of Precision represents the effect of satellite geometry on time determination accuracy.

• VDOP - Vertical Dilution of Precision represents the effect of satellite geometry on vertical position accuracy.

DSM

A Digital Surface Model is a 3D representation of the Earth's surface, including all objects on it, such as buildings, trees, and other structures.

DTM

A Digital Terrain Model is similar to a DEM but includes additional terrain attributes, such as break lines and mass points, to represent the ground surface more accurately.

ECEF

Earth-Centered, Earth-Fixed is a Cartesian coordinate system used by the WGS‑84 reference frame. In this coordinate system, the origin is at the Earth's center of mass.

EGNOS

European Geostationary Navigation Overlay Service is a regional satellite-based augmentation system that improves the accuracy of GNSS signals over Europe.

Ellipsoid

A mathematically defined surface that approximates the shape of the Earth, used as a reference in geodesy and map projections.

Ephemeris Data

Information about the positions and velocities of GNSS satellites, used by receivers to calculate accurate positions.

Fixed Solution

Indicates that the integer ambiguities have been resolved, providing the most precise type of solution available in an RTK GPS application.

Float Solution

Indicates that the integer ambiguities have not been resolved, resulting in positional accuracy less than that of a fixed solution.

Galileo

A global navigation satellite system controlled by the European Union.

GCP (Ground Control Point)

An easily identifiable point on the ground that can be used as a reference for measurements. Ground control points are often used in surveying and photogrammetry to provide a known reference point.

Geocoding

The process of converting addresses or other location descriptors into geographic coordinates.

Geodatabase

A database designed to store, query, and manipulate geographic information and spatial data.

Geodetic Datum

A coordinate system and reference points used to locate places on the Earth, serving as a foundation for mapping and surveying.

Geoid

The hypothetical shape of the Earth, coinciding with mean sea level, used as a reference surface from which to measure elevations.

Georeferencing

The process of assigning real-world coordinates to each pixel of a raster image or vector dataset, aligning spatial data to a known coordinate system.

GIS

A Geographic Information System is a system that collects, stores, analyzes, and displays geographically referenced information.

GLONASS

Global Navigation Satellite System is the GNSS controlled by the Russian government.

GNSS

Global Navigation Satellite System is the standard generic term for satellite navigation systems that provide geospatial positioning with global coverage.

GPS

Global Positioning System is the GNSS controlled by the U.S. government.

GSD

Ground Sampling Distance is the distance between pixel centers measured on the ground, representing the spatial resolution of an aerial image.

HDOP

Horizontal Dilution of Precision represents the effect of satellite geometry on horizontal position accuracy.

IMU

An Inertial Measurement Unit is a device that measures and reports a body's specific force, angular rate, and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes.

Kinematic Surveying

A method of surveying where the GNSS receiver is in motion, allowing for rapid data collection over large areas.

L1

The primary L‑band carrier used by GNSS satellites to transmit satellite data on the 1575.42 MHz frequency.

L2

The secondary L‑band carrier used by GNSS satellites to transmit satellite data on the 1227.6 MHz frequency.

LiDAR

Light Detection and Ranging is a remote sensing method that uses laser pulses to measure distances to the Earth's surface, generating precise, three-dimensional information about the shape of the Earth and its surface characteristics.

Map Projection

A systematic transformation of latitudes and longitudes from the Earth's curved surface onto a flat plane.

Multipath

An error in GNSS signal reception caused by signals reflecting off surfaces before reaching the receiver, leading to inaccuracies.

NAD83

North American Datum 1983 is a geocentric datum and reference system used for geodetic control in North America.

NMEA

The National Marine Electronics Association defines a standard data format for interfacing marine electronic devices, commonly used by GNSS receivers to transmit data.

NTRIP

Networked Transport of RTCM via Internet Protocol is a standard method for RTK GPS rovers and base stations to exchange correction data over the internet.

OPUS

Online Positioning User Service provides free post-processing of GPS base data into high-accuracy National Spatial Reference System coordinates.

Orthomosaic

An orthomosaic is a geometrically corrected and georeferenced aerial image composed of multiple photographs stitched together to create a seamless and accurate map.

PDOP

Position Dilution of Precision combines the effects of HDOP and VDOP to represent the effect of satellite geometry on three-dimensional position accuracy.

Photogrammetric Tie Point

Points identified on overlapping images used to stitch images together in photogrammetry, ensuring accurate alignment.

Photogrammetry

The science of making measurements from photographs, especially for recovering the exact positions of surface points.

PPK

Post-Processed Kinematic is a GPS correction technique where the correction calculations are performed after data collection, rather than in real-time like RTK.

PPP

Precise Point Positioning is a GNSS data processing technique that provides highly accurate position solutions without the need for a local reference station.

Precision

A measure of how closely repeated measurements or observations under unchanged conditions show the same results, indicating the repeatability of one or a set of measurements.

RDOP

Relative Dilution of Precision measures the relative positional error between two receivers.

RINEX

Receiver Independent Exchange Format is a file format that is commonly used to interchange raw satellite navigation system data.

Rover

In GNSS surveying, a mobile receiver unit that collects data while moving, receiving corrections from a base station or network.

RTCM

Radio Technical Commission for Maritime Services defines the RTCM protocol that high-precision GPS receivers use to exchange correction data.

RTK

Real-Time Kinematic is a technique that uses carrier-based ranging to provide ranges to satellites that are much more precise than those available through code-based positioning.

RTN

Real-Time Network is a network of GNSS reference stations that provide real-time corrections over a wide area, enhancing positioning accuracy for rovers.

Satellite Observation

A recording of satellite signals made using GNSS receivers for later processing.

SBAS

Satellite-Based Augmentation System enhances GNSS signals by providing correction messages, improving accuracy, integrity, and availability.

SBET

Smoothed Best Estimate of Trajectory is data output from inertial measurement units (IMUs) combined with GNSS data to provide accurate position and orientation information.

SfM

Structure from Motion is a photogrammetric technique that reconstructs 3D structures from 2D image sequences by estimating camera positions and orientations.

SNR

Signal-to-Noise Ratio is a measure of signal strength relative to background noise, important in assessing the quality of GNSS signals.

Static Surveying

A surveying technique where the GNSS receiver remains stationary for a period, providing high-precision position data.

TDOP

Time Dilution of Precision represents the effect of satellite geometry on time determination accuracy.

Transformation

The mathematical process of converting coordinates from one coordinate system to another.

Tropospheric Delay

The slowing of GNSS signals as they pass through the Earth's troposphere, causing delays that can affect positioning accuracy.

UAV

An Unmanned Aerial Vehicle is an aircraft without a human pilot onboard. In surveying and mapping, UAVs are often used to collect aerial imagery and data for analysis.

UTM

Universal Transverse Mercator is a coordinate system that divides the world into a series of six-degree longitudinal zones, allowing for detailed mapping.

VDOP

Vertical Dilution of Precision represents the effect of satellite geometry on vertical position accuracy.

WGS‑84

World Geodetic System 1984 is the mathematical ellipsoid used by GPS since January 1987.

WMS

Web Map Service is a standard protocol for serving georeferenced map images over the internet.

SW Maps GIS, a free mapping application, integrates real-time GNSS data for precise field collection across surveying, agriculture, and environmental projects. When paired with high-precision systems, it enables reliable data collection that improves decision-making and resource allocation.

Setup (BLE)

SW Maps for iOS has streamlined the process of integrating with high-precision GNSS devices by exclusively supporting Bluetooth Low Energy (BLE) connections to RoboDot.

Steps:

1. Enable RoboDot Bluetooth in Web UI settings

2. In SW Maps menu, select Bluetooth GNSS

3. Select the Touch_### and connect to device as "GENERIC NMEA"

4. Click NTRIP Client to configure a correction service for high accuracy

5. Do not set up RoboDot to connect to a VRS, the app proviedes the corrections

In this configuration, the RoboDot (acting as a rover) connects to the iOS device using Bluetooth Low Energy (BLE). The iOS device, which generally has internet connectivity, then connects to the Virtual Reference Station (VRS) to receive RTK corrections. These corrections are subsequently relayed back to RoboDot, enabling it to achieve precise positioning accurate enough for applications that demand higher location precision.