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+++ b/docs/intro.md
@@ -16,37 +16,52 @@ Are you using [Android](https://docs.sparkfun.com/SparkFun_RTK_Firmware/intro/#a
2. Mount the hardware:
- * For RTK Surveyor/Express/Express Plus: Attach the included [antenna](https://www.sparkfun.com/products/17751) to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546). [Clamp](https://www.amazon.com/gp/product/B072DSRF3J) the RTK device to the monopole. Use the included [cable](https://www.sparkfun.com/products/21739) to connect the antenna to the RTK Surveyor/Express/Express Plus.
- * For RTK Facet/Facet L-Band: Attach the Facet to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546).
+ * For RTK Surveyor/Express/Express Plus: Attach the included [antenna](https://www.sparkfun.com/products/17751) to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546). [Clamp](https://www.amazon.com/gp/product/B072DSRF3J) the RTK device to the monopole. Use the included [cable](https://www.sparkfun.com/products/21739) to connect the antenna to the RTK Surveyor/Express/Express Plus (Figure 1).
+ * For RTK Facet/Facet L-Band: Attach the Facet to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546) (Figure 1).
)
-3. Turn on your RTK device by pressing the POWER button until the display shows ‘SparkFun RTK’ then you can release it.
+ *Figure 1*
+
+3. Turn on your RTK device by pressing the POWER button until the display shows ‘SparkFun RTK’ then you can release it (Figure 2).
)
-4. Please note the four-digit code in the top left corner of the display (**B022** in the picture below). This is the MAC address you will want to pair with.
+ *Figure 2*
+
+
+4. Please note the four-digit code in the top left corner of the display (**B022** in the picture below). This is the MAC address you will want to pair with (Figure 3).
)
-5. From your cell phone, open Bluetooth settings and pair it with a new device. You will see a list of available Bluetooth devices. Select the ‘Facet Rover-3AF1’ where 'Facet' is the type of device you have (Surveyor, Express, Facet, etc) and 3AF1 is the MAC address you see on the device’s display.
+ *Figure 3*
+
+5. From your cell phone, open Bluetooth settings and pair it with a new device. You will see a list of available Bluetooth devices. Select the ‘Facet Rover-3AF1’ where 'Facet' is the type of device you have (Surveyor, Express, Facet, etc) and 3AF1 is the MAC address you see on the device’s display (Figure 4).
)
+ *Figure 4*
+
6. Once paired, open SW Maps. Select ‘New Project’ and give your project a name like ‘RTK Project’.
-7. Press the SW Maps icon in the top left corner of the home screen and select Bluetooth GNSS. You should see the ‘Facet Rover-3AF1’ in the list. Select it then press the ‘Connect’ button in the bottom left corner. SW Maps will show a warning that the instrument height is 0m. That’s ok.
+7. Press the SW Maps icon in the top left corner of the home screen and select Bluetooth GNSS. You should see the ‘Facet Rover-3AF1’ in the list. Select it then press the ‘Connect’ button in the bottom left corner (Figure 5). SW Maps will show a warning that the instrument height is 0m. That’s ok.
)
-8. Once connected, have a look at the display on the RTK device. You should see the MAC address disappear and be replaced by the Bluetooth icon. You’re connected!
+ *Figure 5*
+
+8. Once connected, have a look at the display on the RTK device. You should see the MAC address disappear and be replaced by the Bluetooth icon (Figure 6). You’re connected!
)
-9. Now put the device outside with a clear view of the sky. GNSS doesn’t work indoors or near windows. Within about 30 seconds you should see 10 or more satellites in view (SIV). More SIV is better. We regularly see 30 or more SIV. The horizontal positional accuracy (HPA) will start at around 10 meters and begin to decrease. The lower the HPA the more accurate your position. If you wait a few moments, this will drop dramatically to around 0.3 meters (300mm = 1ft) or better.
+ *Figure 6*
+
+9. Now put the device outside with a clear view of the sky. GNSS doesn’t work indoors or near windows. Within about 30 seconds you should see 10 or more satellites in view (SIV) (Figure 7). More SIV is better. We regularly see 30 or more SIV. The horizontal positional accuracy (HPA) will start at around 10 meters and begin to decrease. The lower the HPA the more accurate your position. If you wait a few moments, this will drop dramatically to around 0.3 meters (300mm = 1ft) or better.
+ *Figure 7*
+
You can now use your RTK device to measure points with very good (sub-meter) accuracy. If you need extreme accuracy (down to 10mm) continue reading the [RTK Crash Course](https://docs.sparkfun.com/SparkFun_RTK_Firmware/intro/#rtk-crash-course).
## iOS
@@ -61,48 +76,62 @@ The software options for Apple iOS are much more limited because Apple products
2. Mount the hardware:
- * For RTK Surveyor/Express/Express Plus: Attach the included [antenna](https://www.sparkfun.com/products/17751) to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546). [Clamp](https://www.amazon.com/gp/product/B072DSRF3J) the RTK device to the monopole. Use the included [cable](https://www.sparkfun.com/products/21739) to connect the antenna to the RTK Surveyor/Express/Express Plus.
- * For RTK Facet/Facet L-Band: Attach the Facet to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546).
+ * For RTK Surveyor/Express/Express Plus: Attach the included [antenna](https://www.sparkfun.com/products/17751) to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546). [Clamp](https://www.amazon.com/gp/product/B072DSRF3J) the RTK device to the monopole. Use the included [cable](https://www.sparkfun.com/products/21739) to connect the antenna to the RTK Surveyor/Express/Express Plus (Figure 1).
+ * For RTK Facet/Facet L-Band: Attach the Facet to a [monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU) using the included [thread adapter](https://www.sparkfun.com/products/17546) (Figure 1).
)
-3. Turn on your RTK device by pressing the POWER button until the display shows ‘SparkFun RTK' then you can release it.
+ *Figure 1*
+
+3. Turn on your RTK device by pressing the POWER button until the display shows ‘SparkFun RTK' then you can release it (Figure 2).
)
-4. Put the RTK device into configuration mode by tapping the POWER or SETUP button multiple times until the Config menu is highlighted.
+ *Figure 2*
+
+4. Put the RTK device into configuration mode by tapping the POWER or SETUP button multiple times until the Config menu is highlighted (Figure 3).
)
+ *Figure 3*
+
5. From your phone, connect to the WiFi network *RTK Config*.
6. Open a browser (Chrome is preferred) and type **rtk.local** into the address bar. Note: Devices with older firmware may still need to enter **192.168.4.1**.
-7. Under the *System Configuration* menu, change the **Bluetooth Protocol** to **BLE**. Then click **Save Configuration** and then **Exit and Reset**. The unit will now reboot.
+7. Under the *System Configuration* menu, change the **Bluetooth Protocol** to **BLE** (Figure 4). Then click **Save Configuration** and then **Exit and Reset**. The unit will now reboot.
)
-8. You should now be disconnected from the *RTK Config* WiFi network. Make sure Bluetooth is enabled on your iOS device Settings. The RTK device will not appear in the OTHER DEVICES list. That is OK.
+ *Figure 4*
+
+8. You should now be disconnected from the *RTK Config* WiFi network. Make sure Bluetooth is enabled on your iOS device Settings (Figure 5). The RTK device will not appear in the OTHER DEVICES list. That is OK.
)
+ *Figure 5*
+
9. Open SW Maps. Select ‘New Project’ and give your project a name like ‘RTK Project’.
10. Press the SW Maps icon in the top left corner of the home screen and select Bluetooth GNSS. You will need to agree to allow a Bluetooth connection. Set the *Instrument Model* to **Generic NMEA (Bluetooth LE)**. Press 'Scan' and your RTK device should appear. Select it then press the ‘Connect’ button in the bottom left corner.
-11. Once connected, have a look at the display on the RTK device. You should see the MAC address disappear and be replaced by the Bluetooth icon. You’re connected!
+11. Once connected, have a look at the display on the RTK device. You should see the MAC address disappear and be replaced by the Bluetooth icon (Figure 6). You’re connected!
)
-12. Now put the device outside with a clear view of the sky. GNSS doesn’t work indoors or near windows. Within about 30 seconds you should see 10 or more satellites in view (SIV). More SIV is better. We regularly see 30 or more SIV. The horizontal positional accuracy (HPA) will start at around 10 meters and begin to decrease. The lower the HPA the more accurate your position. If you wait a few moments, this will drop dramatically to around 0.3 meters (300mm = 1ft) or better.
+ *Figure 6*
+
+12. Now put the device outside with a clear view of the sky. GNSS doesn’t work indoors or near windows. Within about 30 seconds you should see 10 or more satellites in view (SIV) (Figure 7). More SIV is better. We regularly see 30 or more SIV. The horizontal positional accuracy (HPA) will start at around 10 meters and begin to decrease. The lower the HPA the more accurate your position. If you wait a few moments, this will drop dramatically to around 0.3 meters (300mm = 1ft) or better.
+ *Figure 7*
+
You can now use your RTK device to measure points with very good (sub-meter) accuracy. If you need extreme accuracy (down to 10mm) continue reading the [RTK Crash Course](https://docs.sparkfun.com/SparkFun_RTK_Firmware/intro/#rtk-crash-course).
## RTK Crash Course
-To get millimeter accuracy we need to provide the RTK unit with correction values. Corrections, often called RTCM, help the RTK unit refine its position calculations. Corrections can be obtained from a variety of sources but they fall into three buckets: Commercial, Public, and Civilian Reference Stations.
+To get millimeter accuracy we need to provide the RTK unit with correction values. Corrections, often called RTCM, help the RTK unit refine its position calculations. RTCM (Radio Technical Commission for Maritime Services) can be obtained from a variety of sources but they fall into three buckets: Commercial, Public, and Civilian Reference Stations.
**Commercial Reference Networks**
@@ -135,26 +164,32 @@ You can set up your own correction source. This is done with a 2nd GNSS receiver
Once you have decided on a correction source we need to feed that data into your SparkFun RTK device. In this example, we will use PointOneNav and SW Maps.
-1. Create an account on [PointOneNav](https://app.pointonenav.com/trial?src=sparkfun).
+1. Create an account on [PointOneNav](https://app.pointonenav.com/trial?src=sparkfun). **Note:** This service costs $50 per month at the time of writing.
2. Open SW Maps and connect to the RTK device over Bluetooth.
-3. Once connected, open the SW Maps menu again (top left corner) and you will see a new option; click on ‘NTRIP Connection’.
+3. Once connected, open the SW Maps menu again (top left corner) and you will see a new option; click on ‘NTRIP Client'.
+
+4. Enter the credentials provided by PointOneNav and click Connect (Figure 1). Verify that *Send NMEA GGA* is checked.
)
-4. Enter the credentials provided by PointOneNav and click Connect.
+ *Figure 1*
5. Corrections will be downloaded every second from PointOneNav using your phone’s cellular connection and then sent down to the RTK device over Bluetooth. You don't need a very fast internet connection or a lot of data; it's only about 530 bytes per second.
-As soon as corrections are sent to the device, the Crosshair icon will become double and begin flashing. Once RTK Fix is achieved (usually under 30 seconds) the double crosshairs will become solid and the HPA will be below 20mm. You can now take positional readings with millimeter accuracy!
+Assuming you are outside, as soon as corrections are sent to the device, the Crosshair icon will become double and begin flashing. Once RTK Fix is achieved (usually under 30 seconds) the double crosshairs will become solid and the HPA will be below 20mm (Figure 2). You can now take positional readings with millimeter accuracy!
)
-In SW Maps, the position bubble will turn from Blue (regular GNSS fix), then to Orange (RTK Float), then to Green (RTK Fix).
+*Figure 2*
+
+In SW Maps, the position bubble will turn from Blue (regular GNSS fix), then to Orange (RTK Float), then to Green (RTK Fix) (Figure 3).
)
+*Figure 3*
+
RTK Fix will be maintained as long as there is a clear view of the sky and corrections are delivered to the device every few seconds.
## Common Gotchas
@@ -171,40 +206,49 @@ RTK Fix will be maintained as long as there is a clear view of the sky and corre
The RTK Facet L-Band is unique in that it must obtain keys to decrypt the signal from a geosynchronous satellite. Here are the steps to do so:
-1. Turn on your RTK Facet L-Band by pressing the POWER button until the display shows ‘SparkFun RTK' then you can release it.
+1. Turn on your RTK Facet L-Band by pressing the POWER button until the display shows ‘SparkFun RTK' then you can release it (Figure 1).
)
-2. Put the RTK device into configuration mode by tapping the POWER button multiple times until the Config menu is highlighted.
+ *Figure 1*
+
+2. Put the RTK device into configuration mode by tapping the POWER button multiple times until the Config menu is highlighted (Figure 2).
)
+
+ *Figure 2*
3. From your phone or laptop, connect to the WiFi network *RTK Config*.
4. Open a browser (Chrome is preferred) and type **rtk.local** into the address bar. Note: Devices with older firmware may still need to enter **192.168.4.1**.
-5. Under the *WiFi Configuration* menu, enter the SSID and password for your local WiFi network. You can enter up to four. This can be a home, office, cellular hotspot, or any other WiFi network. The unit will attempt to connect to the internet periodically (once every 26 days) to obtain new keys, including this first day. Then click **Save Configuration** and then **Exit and Reset**. The unit will now reboot.
+5. Under the *WiFi Configuration* menu, enter the SSID and password for your local WiFi network (Figure 3). You can enter up to four. This can be a home, office, cellular hotspot, or any other WiFi network. The unit will attempt to connect to the internet periodically to obtain new keys, including this first day. Then click **Save Configuration** and then **Exit and Reset**. The unit will now reboot.
)
-6. After reboot, the device will connect to WiFi and obtain keys.
+ *Figure 3*
+
+6. After reboot, the device will connect to WiFi and obtain keys. You should see a series of displays indicating the automatic process (Figure 4).
)
- You should see a series of displays indicating the automatic process.
+ *Figure 4*
- Keys are valid for a minimum of 29 days and a maximum of 60. The device will automatically attempt to connect to WiFi on a daily basis to obtain new keys. If WiFi is not available during that period the keys will expire. The device will continue to operate with expired keys, with ~0.3m accuracy but not be able to obtain RTK Fix mode.
+ Keys are valid for a minimum of 29 days and a maximum of 60. The device will automatically attempt to connect to WiFi to obtain new keys. If WiFi is not available during that period the keys will expire. The device will continue to operate with expired keys, with ~0.3m accuracy but not be able to obtain RTK Fix mode.
7. Now put the device outside with a clear view of the sky. GNSS doesn’t work indoors or near windows. Within about 30 seconds you should see 10 or more satellites in view (SIV). More SIV is better. We regularly see 30 or more SIV. The horizontal positional accuracy (HPA) will start at around 10 meters and begin to decrease. The lower the HPA the more accurate your position.
)
- *Three-pronged satellite dish indicating L-Band reception*
+ *Figure 5*
- Upon successful reception and decryption of L-Band corrections, the satellite dish icon will increase to a three-pronged icon. As the unit's accuracy increases a double blinking cross-hair will indicate a floating RTK solution, and a solid double cross-hair will indicate a fixed RTK solution. The HPA will be below 0.030 (30mm) or better.
+ Upon successful reception and decryption of L-Band corrections, the satellite dish icon will increase to a three-pronged icon (Figure 5). As the unit's accuracy increases a normal cross-hair will turn to a double blinking cross-hair indicating a floating RTK solution, and a solid double cross-hair will indicate a fixed RTK solution. The HPA will be below 0.030 (30mm) or better once RTK Fix is achieved.
You can now use your RTK device to measure points with millimeter accuracy. Please see [Android](https://docs.sparkfun.com/SparkFun_RTK_Firmware/intro/#android) or [iOS](https://docs.sparkfun.com/SparkFun_RTK_Firmware/intro/#ios) for guidance on getting the RTK device connected to GIS software over Bluetooth.
## RTK Reference Station
-While most of this Quick Start guide can be used with the [RTK Reference Station](https://www.sparkfun.com/products/22429), the [Reference Station Hookup Guide](https://learn.sparkfun.com/tutorials/sparkfun-rtk-reference-station-hookup-guide) is the best place to get started.
\ No newline at end of file
+
+
+While most of this Quick Start guide can be used with the [RTK Reference Station](https://www.sparkfun.com/products/22429), the [Reference Station Hookup Guide](https://learn.sparkfun.com/tutorials/sparkfun-rtk-reference-station-hookup-guide) is the best place to get started.
+