RTK GPS Field Procedures

Technology and Environment Directorate - Road and Traffic Engineering Branch
Document No. 67/08/50 Issue Date 04/2005
RECOMMENDED FIELD PROCEDURES FOR

REAL-TIME KINEMATIC (RTK)
GLOBAL POSITIONING SYSTEM (GPS) SURVEYS
This document is owned and controlled by the Survey and Mapping Manager.
The Senior Geodetic Surveyor is the delegated custodian.
All comments for revision should be submitted to the Senior Geodetic Surveyor.
Authorisation
As Executive Director Technology and Environment Main Roads Western Australia, I

authorise the issue and use of this standard.
................................……….…
EXECUTIVE DIRECTOR TECHNOLOGY AND ENVIRONMENT
Date: _____/ _____/ _____
No controlled copies are issued for this standard.

The latest copy of this standard is located on the Main Roads Internet site.
MAIN ROADS Western Australia RECOMMENDED FIELD PROCEDURE FOR REAL - TIME KINEMATIC
67-08-50 RTK GPS WI.doc GLOBAL POSITIONING SYSTEM (GPS) SURVEYS Page 1 of 18
REVISION STATUS RECORD
Page Latest Latest Revision

No Revisio Revision Description/Reference
n Date
No
5 1 07.06.04 Inserted description and reference to VRS
6 1 07.06.04 Corrected reference to section 4.2 to 4.4

Inserted reference to 67-08-53
7 1 07.06.04 Sections 4.4, 5.1 Standard A changed to
Standard 67-08-15
Inserted comment re relevance of section 5.1.1
to VRS users
9 1 07.06.04 Section 5.1.2, third dot point, inserted “This
restriction does not apply to VRS users”; 6th
dot point, inserted “or VRS network”
10 1 07.06.04 2nd dot point: Replaced “RTK GPS Survey

Work Instruction A” with “section 6 of this
document”; 6th dot point: Replaced “RTK GPS
Survey Work Instruction A” with “section 7 of
this document”; 7th dot point: removed phrase
in brackets; 8th dot point: inserted a clause for
VRS users and added “Date” to “start and stop
time of receivers”; Inserted “VRS users must
ensure they are using a GPS antenna that is
approved by their VRS network provider” in
third last paragraph.
11 1 07.06.04 Minor typographic corrections applied.
Sections 7 Standard A changed to Standard 67-
08-15; “Note that this option is not available
for VRS” inserted at bottom of page.
12 1 07.06.04 Section 7: GDA97 corrected to GDA94.
Ausgeoid web address updated.
16 Appendix A inserted
CONTENTS
1. PURPOSE.................................................................................................. 4
2. SCOPE........................................................................................................4
3. REFERENCES...........................................................................................4
4. DEFINITIONS AND ACRONYMS.........................................................4
4.1 Acronyms.........................................................................................4
4.2 Description of RTK GPS Surveying.............................................5
4.3 The Need for Quality Control in RTK GPS Surveys..................6
4.4 Methods of RTK GPS Survey.......................................................7
5. RTK GPS SURVEY PROCEDURES......................................................7
5.1 Survey Design..................................................................................7
5.1.1 Reference Receiver and Antenna Set-up and Operation7
5.1.2 Roving Receiver and Antenna Set-up and Operation.....9
6. RECOMMENDED RTK GPS QUALITY CONTROL

PROCEDURES........................................................................................11
7. VERTICAL DATUM TRANSFORMATIONS....................................13
7.1 The gravimetric method..............................................................13
7.2 The geometric method..................................................................14
7.3 The gravimetric-geometric method............................................15
8. LIAISON...................................................................................................15
1. PURPOSE
The purpose of this Work Instruction is to provide guidelines for survey procedures
that will help ensure the accurate collection of field data using Real-Time
Kinematic (RTK) Global Positioning System (GPS) survey techniques.
It is acknowledged that the suggested survey procedures will inevitably lead to a

decrease in the efficiency of currently adopted RTK GPS surveying techniques.
However, if contractors and consultants to MRWA wish to ensure quality of RTK
GPS surveys, it is strongly recommended these practices should be adopted at all
times.
2. SCOPE
This Work Instruction is issued to all consultants and contractors who propose to
use RTK GPS survey methods for work to be submitted to MRWA, unless
otherwise approved by the Survey and Mapping Manager.
Advice and further information can be obtained by contacting the Senior Geodetic
Surveyor of the Road and Traffic Engineering Branch.
3. REFERENCES
The following documents relate to this Work Instruction:
• Real-time Kinematic GPS Standard 67-08-15

• Real-time Kinematic GPS Validation Procedures 67-08-53
• Survey and Mapping Specification 67-08-43, Digital Ground Survey
• Survey and Mapping Specification 67-08-46, Quality Statement
• Survey and Mapping Specification 67-08-36, Road Reference Marks
• Survey and Mapping Specification 67-08-37, Minor Control
• ICSM – Standards and Specifications for Control Surveys version 1.5 2002
(SP1)
• Geocentric Datum of Australia Technical Manual
• Featherstone, W.E. and M.P. Stewart (1999) RTK GPS Evaluation, Contract
Report to Main Roads Western Australia, Perth, Australia, 50pp.
4. DEFINITIONS AND ACRONYMS
4.1 Acronyms
The following acronyms used in this document have the specific meanings
indicated.
AGD - Australian Geodetic Datum

AHD - Australian Height Datum
AUSGeoid - National geoid model
BM - Benchmark
GDA - Geocentric Datum of Australia
GPS - Global Positioning System
GRS80 - Geodetic Reference System 1980
ICSM - Inter-governmental Committee on Surveying and Mapping
MGA - Map Grid of Australia
RM - Reference Mark
RRM - Road Reference Mark
RTK - Real-time kinematic
SSM - Standard Survey Mark
VRS - Virtual Reference Station
WGS84 - World Geodetic System 1984
4.2 Description of RTK GPS Surveying
RTK GPS surveying is the process of determining and recording three-dimensional

coordinates of unknown points using an RTK GPS system (ie. instrumentation and
software/firmware). The RTK-GPS-derived coordinates must be transformed to
the appropriate horizontal and vertical datums.
RTK GPS systems comprise a reference receiver and antenna set up over a point
whose three-dimensional coordinates (geodetic latitude, longitude and ellipsoidal
height) are known with respect to a geocentric datum. The reference receiver
telemeters appropriate information to a roving receiver whose antenna is situated
directly and steadily above an unknown point. The coordinates of the unknown
point, and associated internal quality indicators, are computed in ‘real-time’ by the
roving receiver and recorded by some form of data logging device.
A recent development is the Virtual Reference Station (VRS) concept. A VRS

network is a series of continuously operating GPS receivers located across a region
at spacings of between approximately 10 and 100km. All data from these stations
are transmitted, in real time, back to a master control, which can use the resultant
information to compute a GPS error model over the entire region. Such an error
model overcomes the limits imposed on long range RTK positioning by the growth
of systematic errors with baseline length (this growth of error is predominantly due
to the atmosphere). Therefore, the presence of a VRS network allows long range
RTK positioning. A further advantage is that a VRS network can support many
roving users simultaneously. Surveyors no longer need set up their own reference
stations and, in fact, only require a single mobile receiver to complete a survey,
whereas in the past they required a mobile and a base.
RTK receivers are implicitly of geodetic quality and use dual-frequency carrier
phase measurements as the primary GPS observables to compute positions.
Fundamentally, RTK GPS systems measure the three-dimensional vector

(nominally in the WGS84 geocentric Cartesian coordinate system) from the
reference station to the unknown point. The computed three-dimensional vector is
added to the three-dimensional coordinates of the reference station to determine the
position of the unknown station. Therefore, the determined position of the
unknown station is dependent on
a) the accuracy of the coordinates of the reference station, and
b) the accuracy of the computed three-dimensional vector.
The coordinates of the unknown station can be transformed to any local geodetic
datum, provided that the transformation parameters are known. These parameters
must be input to the RTK GPS system in order to perform a ‘real-time’
transformation, or applied at a post-processing stage.
The appropriate horizontal transformation methods for RTK GPS surveys in
Western Australia are described and discussed in the Geocentric Datum of
Australia Technical Manual.
The appropriate vertical transformation methods for RTK GPS surveys in Western
Australia are described and discussed in Section 5.7.
4.3 The Need for Quality Control in RTK GPS Surveys
The status of current GPS technology, in terms of algorithm development and

hardware, is such that RTK GPS internal quality control indicators, provided by the
proprietary software/firmware, cannot be used solely to validate GPS positioning
accuracy.
RTK GPS is a surveying technique that essentially offers three-dimensional

radiations from a known point. As with any survey technique, to independently
estimate the accuracy of the coordinates computed by radiation, redundancy in the
form of additional observations is required.
In the case of RTK GPS surveys, the only rigorous technique for independently
estimating the uncertainty in computed coordinates is to make a separate
observation at every unknown point. This could use RTK GPS corrections
received from another reference station and at a different sidereal time to ensure
that the GPS satellite geometry and multipath effects have changed.
In the case of pick-up surveys (section 4.4), it is not possible to perform this type
of quality control procedure. Therefore, fixed-point surveys (section 4.4) must be
used in conjunction with the approach described above.
From experience and a number of repeat RTK GPS surveys conducted on the RTK
GPS Testing and Benchmarking Facility at Curtin University of Technology, a
RTK GPS surveying methodology has been developed that delivers a reasonable
probability that accurate results will be achieved.
However, it is essential to point out that the accuracy of any GPS-derived positions
is spatially and temporarily dependent. Therefore, there is no guarantee that just
because a RTK GPS system delivers results of a particular standard on the RTK
GPS Testing and Benchmarking Facility (67-08-53) that it will in all other surveys.
In addition, these methodologies do not guarantee that all points will be within a
certain level of accuracy (eg. ambiguities can be fixed incorrectly, multipath can
cause height variation of 50mm or greater). Furthermore, a problem with using
only one independent check measurement is that it is impossible to discern between
correct and incorrect points at definite levels of accuracy and significance.
Accordingly, the burden of proof rests with the surveyor to ensure that the
positions are accurate to the desired standards at the time and place of the RTK
GPS surveys.
Any one or a combination of the RTK GPS survey procedures suggested in Section
5 of this Work Instruction should allow the user to derive survey quality control
indicators independently of the internal quality control indicators given by RTK
GPS receiver firmware.
4.4 Methods of RTK GPS Survey
For the purpose of this Work Instruction and Real-time Kinematic GPS Standard
67-08-15, two modes of RTK GPS survey are defined.
1. Fixed-point surveys - coordination of marked points, survey monuments

or ground features that can be accurately resurveyed. These marks are
permanent or semi-permanent such that they may be resurveyed at some time
in the future.
2. Pick-up surveys – coordination of features that have no monumentation or

ground features that cannot be accurately resurveyed. The distinguishing
feature of pick-up surveys is that individual points cannot be reoccupied as part
of a field-validation procedure.
All coordinates derived from either mode of RTK GPS survey must be computed
with respect to geodetic survey control on the appropriate geodetic datums.
5. RTK GPS SURVEY PROCEDURES
5.1 Survey Design
In practice, most surveys must be executed as a combination of the fixed-point

surveys and pick-up surveys described in Section 4.4. It is strongly recommended
that, where practical, 10% of the points surveyed be fixed points. These points
should be used for independent quality checks described in Section 6.
As per Real-time Kinematic GPS Standard 67-08-15, the fixed points must be
occupied once every 30 minutes during the RTK GPS surveys and must be situated
within one-kilometre of the survey area. In the case of RTK GPS surveys that use
more than one RTK GPS base-station, it is preferable that these fixed points are
situated such that they can be occupied from each base station in order to provide
checks between the surveys.
VRS users may ignore the following section (5.1.1) as VRS reference receiver
operation is outside the user’s control.
5.1.1 Reference Receiver and Antenna Set-up and Operation
• Reference GPS receivers and antennae (aka RTK GPS base-stations) must be
established such that the roving-to-reference GPS receiver separation will be no
greater than 5km (ideally 2km) at any stage of the survey.
• Reference GPS antennae must be set up over a control point of known quality
(either an existing SSM or a new geodetic control station established in accordance
with Survey and Mapping Specification 2300/05/06, Minor Control, or Survey and
Mapping Specification 2300/05/07, Road Reference Marks).
• The coordinates of the control point must be known in three dimensions (geodetic
latitude, longitude and ellipsoidal height) with respect to the GDA94. If these
control coordinates have been transformed from other geodetic datums, the
transformation technique and parameters must be specified.
• The position of any existing control points must be verified by check measurements
to RMs before they are adopted and used.
• The appropriate height of the antenna’s phase centre must be measured, recorded,
and input into the reference or roving GPS receiver as required by the RTK GPS
equipment and software/firmware being used.
• There should be no obstructions to the GPS satellite signals intruding into the space
formed by a cone of 15-degrees elevation above the horizon of the reference GPS
antenna.
• The site of the reference GPS antenna must be uncontaminated by probable sources
of multipath and electrical interference (eg. strong radio transmitters or high-
voltage power lines).
• The reference receiver must be correctly configured to generate and transmit RTK
GPS corrections compatible with the roving RTK GPS receiver(s).
• The GPS data-sampling rate should be as fast as possible (preferably one-second).
• A standard log sheet (see example in Appendix A) must be completed for each
reference station occupation, which includes the following information.
• Name, identification number and type of control point (eg. SSM, RRM);
• Receiver make, model and receiver serial number;
• Antenna make, model and serial number;
• Firmware/software make and version number;
• Antenna set-up information (orientation, antenna height measurements [true
vertical or slope height], antenna set-up diagram);
• Start and stop time of the receiver;
• Approximate sky visibility plot of the reference site;
• Three-dimensional coordinates of the reference point (including datums), and
any transformation methods and parameters used;
• Any unusual site features (including any possible sources of multipath and
electrical interference);
• Any unusual occurrences during the survey (eg. power failure, inclement
weather conditions).
5.1.2 Roving Receiver and Antenna Set-up and Operation
• The roving GPS receiver must be configured with the appropriate height of the
roving GPS antenna’s phase centre, which must be updated if the roving GPS
antenna height is changed during the survey.
• The GPS data-sampling rate of the roving GPS receiver should be as fast as
possible (preferably one-second) and must be the same as that of the reference GPS
receiver.
• The roving-to-reference GPS receiver separation must be no greater than 5km
(ideally 2km) at any stage of the survey. This restriction does NOT apply to VRS
users although VRS users must not operate outside the area pre-specified by their
service provider.
• There should be no significant obstructions to the GPS satellite signals intruding

into the space formed by a cone of 15-degrees elevation above the horizon of the
roving GPS antenna.
• The site of the roving GPS antenna must be uncontaminated by probable

sources of multipath and electrical interference (eg. strong radio transmitters or
high-voltage power lines).
• Current RTK GPS corrections must be received from the reference receiver or
VRS network for each point coordinated and for the entire time that measurements
are collected to determine that point’s position.
• Each site to be coordinated must be occupied for a minimum of five (5)

continuous GPS epochs (preferably 20 or more). Importantly, this occupation
period must be the same as that used for the RTK GPS equipment and
firmware/software validation (Section 5.1)
• A minimum of five (5) GPS satellites (preferably 6) must be observed for each
point coordinated and for the entire time that measurements are collected to
determine that point’s position.
• The Position Dilution of Precision (PDoP) must be less than 6.0 for each point
to be coordinated and for the entire time that measurements are collected to
determine that point’s position.
• The roving receiver must indicate that an ambiguity-fixed GPS position solution
has been achieved for each point to be coordinated and this must be maintained for
the entire time that measurements are collected to determine that point’s position.
• All other proprietary software/firmware quality indicators must be satisfied for

each point to be coordinated and these must be maintained for the entire time that
measurements are collected to determine that point’s position.
• The proprietary quality indicators used must be described in the project report
and included with the results submitted (Section 6).
• During each survey, fixed-points (beginning of Section 4.2) must be resurveyed

once every 30 minutes. These fixed-points must be at a distance no greater than
1km from the area in which the survey is being conducted. The resurveyed
positions must be validated (including documentation and justification) according
to one or a combination of the procedures in section 6 of this document.
• If the resurveyed position disagrees with the previously determined position by

more than the positional tolerance set by MRWA, the RTK GPS system must be re-
initialised, the fixed-point resurveyed and checked, and all points surveyed since
the previous survey of the fixed point must be resurveyed.
• All horizontal positions must be referenced to the GDA94 (or MGA94). If these
coordinates have been transformed, the transformation technique and parameters
must be specified.
• All vertical positions must be determined with respect to the AHD.
• The geoid modelling technique(s) used to derive the AHD heights from GPS
ellipsoidal heights must be documented and justified according to one or a
combination of the procedures in section 7 of this document.
• A standard log sheet must be provided for each GPS roving receiver, which
includes the following information.
• Receiver make, model and receiver serial number;
• Antenna make, model and serial number;
• Firmware/software make and version number;
• VRS Users only: Name of VRS network provider.
• Antenna set-up information (antenna height measurements [true vertical or
slope height], antenna set-up diagram);
• Date, Start and stop time of the receiver;
• Number of satellites, PDoP and number of epochs used for each point
surveyed
• Any unusual site features (including any possible sources of multipath and
electrical interference);
• Any unusual occurrences (including time) during the survey (eg. power
failure, loss of radio link, unscheduled re-initialisation, inclement weather
conditions).
Where practicable, the GPS antennas should be of the same make and model. If
not, the RTK GPS software/firmware must be able to make appropriate corrections
for the different phase centres. VRS users must ensure they are using a GPS
antenna that is approved by their VRS network provider.
Where practicable, the roving and reference GPS antennae should be oriented in
the same direction so that common phase centre variations cancel.
Where practicable, the roving GPS antenna should be stabilised over the unknown
point using a bi-pod or tripod.
6. RECOMMENDED RTK GPS QUALITY CONTROL PROCEDURES
The minimum recommended procedures for quality control of RTK GPS surveys
performed for MRWA are given below. These may be viewed to be
complimentary to the ICSM SP1 (2002) RTK specifications.
Consultants and contractors to MRWA must provide documentary evidence that the
specifications have been met in a way that expedites audit by MRWA.
These procedures are only acceptable if a RTK GPS validation has been previously
performed on the RTK GPS Testing and Benchmarking Facility at Curtin
University of Technology using the techniques and software specified in Real-time
Kinematic GPS Validation Procedures 67-08-53.
Consultants and contractors to MRWA must note that conditions on the RTK GPS
Testing and Benchmarking Facility may radically differ from the situation in the
field, and certification will thus only validate the surveying methodology used by
the contractor.
In itself, this certification cannot be used to unequivocally justify the reliability of

any other survey. Accordingly, the burden of proof is on the consultant or
contractor to demonstrate to MRWA that quality control criteria in Real-time
Kinematic GPS Standard 67-08-15 have been met for all points, either by direct
analysis or unequivocal implication.
The following survey designs and methodologies are presented in order of

preference based on their perceived reliability. That is, the surveys that are most
likely to yield coordinates with a reliable accuracy estimation are listed first. It is
acknowledged that these approaches are not necessarily suited to all contract
surveys for MRWA. Therefore, surveyors may use a hybrid of these approaches.
Nevertheless, the quality control approach adopted by the contractor must be fully
justified in writing to MRWA.
Independent repeat survey
A number (preferably all) of the survey points are occupied independently from
two different base-stations at different sidereal times to ensure independent satellite
geometry. This technique requires fixed points (Section 4.4). A least squares
adjustment should be performed for each point and 95% confidence error ellipses
derived. For simplicity in the field, a simple misclosure calculation can be
performed. Any positions that do not agree to within the specifications set for the
survey must be reoccupied at third time and the outlying observation rejected.
Note that this option is not available for VRS.

Over-sample and look for outliers in post-analysis along a profile or surface
Using this technique, points are picked up along a profile, using the point pick-up
technique (Section 4.4). However, the profile is ‘over-sampled’ to an extent that
when the vertical and horizontal components of the profile are plotted, a simple
filtering procedure can detect any gross errors. Therefore, if a specified sampling
interval is 100m, actual point observations may be taken every 10m. The outlier
detection function and the sampling interval would be defined by the predicted
maximum gradient along the profile or surface.
Mark position of observed points approximately
If observed points are marked approximately, say using spray paint, during an
initial survey, then they can be revisited and checked using techniques similar to
Section 6.1. A degradation in accuracy in the horizontal position of the antenna is
not as critical for MRWA specifications, whilst height is generally much less
variable for small changes in the horizontal. Note, however, that errors in the
horizontal can degrade the vertical component.
Repeat profiling
Some profiles, such as road centre-line mapping can be repeated using point pick-
up techniques (Section 4.4). Therefore, a series of profiles can be constructed
which could then be used to construct a master profile with an associated
uncertainty for that profile. To ensure a statistically significant result, the profile
should be repeated at least three times.
Known-point re-initialisation to give a second independent coordinate estimate at each

point
This technique involves moving from one point (say point A) to the next point (say
point B) and taking a position fix. If the position fix at point B is accepted (as per
the specifications), the coordinates of point B can be used for a known point
initialisation over that point. Therefore, a second position fix is performed at point
B, based on a known point initialisation. If re-initialisation fails or the results are
significantly different (say >5cm in each component) to the previous results, the
surveyor should wait for a longer period of time (up to 10 minutes) or re-initialise
again. The survey proceeds to the next point where the same procedure is carried
out. This procedure relies solely on internal quality indicators though the re-
initialisation provides some check that ambiguities have been resolved correctly.
Ambiguity check on initialisation
An initial point is positioned, lock is lost deliberately and the point is re-positioned.
If the coordinates agree to, say better than 5cm, points continuously picked up until
lock is lost, in which case the procedure undertaken at the initial point is repeated.
This method provides a secondary check that the receiver is using the correct
ambiguities whilst picking up points. However, as conditions such as multipath
and satellite geometry vary from point to point, this method provides no definitive
external quality control.
Known control at either end of line
Independent control checks can be obtained by observing over a known point, such
as an SSM, at any stage of the survey. However, it should be understood that this
technique in no way validates the other points in the survey because other points
may have experienced loss of lock, incorrect ambiguity resolution or different
satellite geometry or multipath conditions.
Combinations or permutations of these survey configurations (Sections 6.1 to 6.7)

may be adopted. The primary aim of each technique to perform some kind of
independent reliability check on the RTK GPS results. As a rule of thumb, the
more points that are observed when defining a profile or surface, or resurveyed
when performing other types of survey, the more potential a contract will have for
demonstrating quality control procedures have been applied.
7. VERTICAL DATUM TRANSFORMATION
Horizontal datum transformations need not be applied of the control coordinates

are given on the GDA94, which is compatible with the WGS84 system utilised by
GPS. However, the AHD will continue to be used in Australia, so there is the need
to transform RTK GPS-derived ellipsoidal heights to the AHD. Most RTK GPS
systems allow for the ‘real-time’ application of the following techniques. If not,
the consultant or contractor to MRWA must apply one of these techniques at a later
post-processing stage.
7.1 The gravimetric method
The geoid-WGS84-ellipsoid separation is interpolated from a pre-computed grid of

values. The latest geoid model available is AUSGeoid98, which is referenced to
the GRS80 ellipsoid and its relative accuracy is estimated to be between 1 and 3
parts per million of baseline length. AUSGeoid98 and interpolation software can
be downloaded free-of-charge from
http://www.agso.gov.au/nmd/geodesy/ausgeoid/
7.2 The geometric method

WGS84 ellipsoidal and AHD heights can be used to determine discrete estimates of
the geoid-ellipsoid separation. From these point geoid observations, the geoid
height can then be interpolated to other points in the survey area. This interpolated
value is then applied to the ellipsoidal height to give the AHD height. Over small
areas (say, less than a few kilometres) and where the geoid is smooth, the
interpolation can be achieved using a plane.
In order to define the plane, GPS observations must be made at a minimum of three
benchmarks that surround the survey area. If more than three benchmarks are
used, a least squares solution should be used in preference.
Alternatively, the geoid can be modelled using a low-order polynomial surface.

However, this approach should be treated with some caution because spurious
features can result as an artefact of using polynomial surfaces.
There are some important precautions that must be taken when using geometrical
interpolation to determine orthometric heights from GPS. These comprise:
1. The geometrically derived geoid-WGS84-ellipsoid separation is limited to

the combined accuracy of the GPS and AHD heights. If errors exist in each or
both of these measurements, the geometrical geoid model will be distorted,
which will degrade any subsequently interpolated GPS-derived AHD heights.
2. Interpolation of the geometrically derived geoid can prove superior to a

gravimetric geoid for some survey areas that are smaller than the resolution of
the gravimetric geoid.
3. Interpolation can only be applied in the area bound by the benchmarks used
to define the geoid surface, otherwise less accurate and unreliable extrapolation
is used for those areas outside the control points.
4. Independent checks should always be used to ensure that the geoid has been
accurately modelled. For example, in the case of a plane, four or more
benchmarks should be used; three to define the plane and the remainder to
provide an independent check. This will give the most realistic estimate of how
well AHD heights can be recovered from GPS for each particular survey area.
7.3 The combined gravimetric-geometric method
Since the objective is to use GPS to provide AHD heights that are compatible with
existing benchmarks, a combination of the gravimetric and geometric approaches
proves superior to either method alone. This is because the geometrically derived
geoid heights can account for any local biases in the gravimetric geoid with respect
to the local benchmarks for each particular survey area and vice versa. It ensures
that the GPS-derived AHD heights are compatible with the local control, which, in
turn, allows full integration of GPS heights with the existing AHD heights.
The combined gravimetric-geometric method is outlined in the following scheme:
1) Observe GPS ellipsoidal heights at a minimum of three AHD benchmarks
that surround the survey area. Ideally, more than three AHD benchmarks
should be observed with GPS in order to provide a check on this method, or to
model the geoid using a low-order polynomial surface.
2) Algebraically subtract gravimetric geoid heights from all GPS ellipsoidal

heights.
3) Calculate the ‘residuals’ between the gravimetric and geometrical geoid

heights.
4) Interpolate and apply these ‘residuals’ to the positions of the AHD heights
that have been derived from GPS and the gravimetric geoid alone, as described
in stage 2.
5) Use the additional control points for quality assurance and to determine
whether this combined method provides improved geoid heights (over the
gravimetric geoid alone or geometrical interpolation alone) in the survey area.
In the case where only one AHD benchmark is occupied, a constant bias may be
applied to all other survey points.
8 LIAISON
Consultants and contractors to MRWA are not to contact Curtin University of

Technology regarding these RTK GPS survey specifications.
All queries and requests should be directed to the Senior Geodetic Surveyor of the
Road and Traffic Engineering Branch.
Contact: Geoff Xanthis
(08) 9323-4152 (direct)

(08) 9323-4449 (fax)
geoff.xanthis@mrwa.wa.gov.au
Appendix A: Sample RTK GPS base-station log sheet
MAIN ROADS
Western Australia
REAL-TIME KINEMATIC (RTK) GPS BASE-STATION

SAMPLE LOG SHEET Page 1
Company name Observer Name (print) signature Survey date
Receiver Information
Manufacturer Model Serial Number
Base Receiver
Base Antenna
Base Receiver Firmware version number
Control Point Information
Name Identification number Type (eg SSM, RRM)
GDA Coordinates
Latitude Longitude Ellipsoidal height Geoid height
Coordinates as input into reference receiver (if different to above)

Tick as appropiate Long. or Easting Lat. Or Northing Ellips.Height Geoid height
MGA
AGD84
AMG
Other
continued over
MAIN ROADS
Western Australia
REAL-TIME KINEMATIC (RTK) GPS BASE-STATION

SAMPLE LOG SHEET Page 2
If GDA coordinates were not used to for base station coordinates state below how the coordinate
used were derived eg source, transformation method, transformation parameters
0°
330° 30°
300° 60°
90°
60°
240° 30° 120°
15°
210° 0° 150°
Antenna plan (indicate to which points on the antenna Site visibility
measurement were made)
Antenna set-up Measurement type eg:
tick Heights: Before Heights: L1 phase centre
logging (m) After logging bottom of notch on ground plane
base of antenna
(m) corner of antenna base
Pillar 1
Tripod 2
Tribrach 3
Optical plummet 4
Plumb bob 5
Antenna height input into receiver (m)
Transmission Started Time frame (eg UT,

WAST)
Transmission Stopped Time frame (eg UT,
WAST

RTK GPS Field Procedures

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Technology and Environment Directorate - Road and Traffic Engineering Branch

Document No. 67/08/50 Issue Date 04/2005

RECOMMENDED FIELD PROCEDURES FOR

The Senior Geodetic Surveyor is the delegated custodian.

As Executive Director Technology and Environment Main Roads Western Australia, I

Date: _____/ _____/ _____

No controlled copies are issued for this standard.

Page Latest Latest Revision

6 1 07.06.04 Corrected reference to section 4.2 to 4.4

10 1 07.06.04 2nd dot point: Replaced “RTK GPS Survey

4. DEFINITIONS AND ACRONYMS.........................................................4

4.2 Description of RTK GPS Surveying.............................................5

4.3 The Need for Quality Control in RTK GPS Surveys..................6

4.4 Methods of RTK GPS Survey.......................................................7

5. RTK GPS SURVEY PROCEDURES......................................................7

5.1 Survey Design..................................................................................7

5.1.1 Reference Receiver and Antenna Set-up and Operation7

5.1.2 Roving Receiver and Antenna Set-up and Operation.....9

6. RECOMMENDED RTK GPS QUALITY CONTROL

7. VERTICAL DATUM TRANSFORMATIONS....................................13

7.1 The gravimetric method..............................................................13

7.2 The geometric method..................................................................14

7.3 The gravimetric-geometric method............................................15

It is acknowledged that the suggested survey procedures will inevitably lead to a

The following documents relate to this Work Instruction:

• Real-time Kinematic GPS Standard 67-08-15

4. DEFINITIONS AND ACRONYMS

AGD - Australian Geodetic Datum

4.2 Description of RTK GPS Surveying

RTK GPS surveying is the process of determining and recording three-dimensional

A recent development is the Virtual Reference Station (VRS) concept. A VRS

Fundamentally, RTK GPS systems measure the three-dimensional vector

4.3 The Need for Quality Control in RTK GPS Surveys

The status of current GPS technology, in terms of algorithm development and

RTK GPS is a surveying technique that essentially offers three-dimensional

1. Fixed-point surveys - coordination of marked points, survey monuments

2. Pick-up surveys – coordination of features that have no monumentation or

5. RTK GPS SURVEY PROCEDURES

5.1 Survey Design

In practice, most surveys must be executed as a combination of the fixed-point

5.1.1 Reference Receiver and Antenna Set-up and Operation

• The GPS data-sampling rate should be as fast as possible (preferably one-second).

5.1.2 Roving Receiver and Antenna Set-up and Operation

• There should be no significant obstructions to the GPS satellite signals intruding

• The site of the roving GPS antenna must be uncontaminated by probable

• Each site to be coordinated must be occupied for a minimum of five (5)

• All other proprietary software/firmware quality indicators must be satisfied for

• During each survey, fixed-points (beginning of Section 4.2) must be resurveyed

• If the resurveyed position disagrees with the previously determined position by

• All vertical positions must be determined with respect to the AHD.

6. RECOMMENDED RTK GPS QUALITY CONTROL PROCEDURES

In itself, this certification cannot be used to unequivocally justify the reliability of

The following survey designs and methodologies are presented in order of

Independent repeat survey

Note that this option is not available for VRS.

Mark position of observed points approximately

Known-point re-initialisation to give a second independent coordinate estimate at each

Known control at either end of line

Combinations or permutations of these survey configurations (Sections 6.1 to 6.7)

7. VERTICAL DATUM TRANSFORMATION

Horizontal datum transformations need not be applied of the control coordinates

7.1 The gravimetric method

Date: ___/ _/ ___