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Operating Modes

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:

Fix Type

Explanation

Standard positioning with 2-meter positioning accuracy. Provides the lowest real-time accuracy but can be post-processed in PPK (Post-Processing Kinematic) workflows to achieve high accuracy results.

Float

Using corrections to try to achieve RTK fix. Typically indicates that the receiver is in the process of converging toward a Fixed solution. In this state, the ambiguities are estimated as floating point numbers.

Fixed

Rover has achieved its most accurate RTK fix. Represents high-precision positioning where carrier phase ambiguities have been successfully resolved to integer values, providing centimeter-level accuracy.

Surveyed

Base has been set on a position, either manually or automatically. Essential in base station modes, where the base requires a predetermined position. Note that this position may not be inherently accurate, depending on how it was obtained. RoboDot allows you to either enter a position manually or average the current readings to establish the surveyed position.

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.

Base Mode Rover Mode Repeater Mode BLE Rover

Base Mode

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.

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
  - To convert from state plane to degrees, use NOAA's NCAT tool.
- Enter pole height
  - Distance from the ground to the bottom or RoboDot
- Select "Set as Entered"
With a VRS Solution:

Automatic Method

- Configure hotspot and VRS credentials
- Enable: Connect on Boot (Wi-Fi)
- Enable: Auto Connect (VRS)
- Enable: Auto Survey
- Restart device with 
    - Have a Wi-Fi Hotspot active

Manual Method

- Place RoboDot

Via Web UI
-     Connect to Wi-Fi and VRS in the Web UI Settings
-     Verify Fixed solution status
-     Use Position > Average from GPS
Via Screen UI
-     In the GNSS Screen press Survey

- Device disconnects from VRS when complete

RoboDot saves a .sht file with the position data each time a Base Point is set, handy for future reference.

ARP height refers to the bottom of the RoboDot

Setting a base point- Relative Positioning

Manual
1. Click "Average from GPS" in Status Page, Set Position Field
2. Position quality depends on the fix quality at hand
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:

Over the WIFI network NTRIP caster
Over Lora radio if installed and enabled in the settings page
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

Direct from Survey:
- When base station is surveyed in
- Click "Save For Later" in status page
Manual Entry:
- Navigate to Positions page
- Enter and save coordinates directly

Using Saved Positions

Place RoboDot at location
Navigate to Positions page
Select desired position by identifier
Enter pole height (distance from ground to RoboDot bottom)
Click "Set as Base Position"

NTRIP connections

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

Setup:

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

Rover Mode

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

Select "Make Rover" in Web UI status page
1. Or set boot mode to Rover in Web UI settings page
Navigate to Rover Page for location marking

Correction sources accepted

NTRIP casters over the internet (Virtual Reference Stations VRS)
Lora Radio (Corrections sent over radio from a RoboDot base station)
CORS stations (for postprocessing using PPK Rover Mode)
Corrections over BLE
Corrections over TCP port 1000
Corrections over Serial* (Contact Us)

Marking a location

On the rover page, enter rod height
Optional: Add location identifier
Select "Mark Location"

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

Shot Count

GPS Time

Latitude

Longitude

Height(M)

Quality

Ident

Antenna Offset(M)

Pole Height(M)

Obs Length(S)

Ground Elevation(M)

Sats

PDOP

Reference

Vertical Accuracy(M)

2025 02 20 21 42 03

32.68456607

-96.86463903

181.1551

Robota Hanger 7

0.094

180.0611

1.24

Disconnected

1.0406

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.

Repeater Mode

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

Enable Lora radio in settings
Select repeater as boot mode
Restart device
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

Maintain single base reference with lora enabled
Connect a rover to a repeater's NTRIP

BLE Rover

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.