Operation
Chapter 3
SMART6 User Manual Rev 3
29
3.5.1
Maintain
When the receiver transitions to a different positioning mode, it maintains the position offset calculated to limit
a potential real position jump. The receiver continues to apply the position offset to all positions calculated in
the new positioning mode.
Figure 11: Steadyline Maintain
3.5.2
Transition
When the receiver transitions to a different positioning mode, the position offset is applied to the calculated
position to limit a potential real position jump. The position then slowly transitions to the new reference
position type over a specified period of time. This time period is specified by the Transition time parameter in
the
STEADYLINE
command.
Figure 12: Steadyline Transition
3.5.3
Prefer Accuracy
The positioning mode change depends on the accuracy level of the positioning modes.
When the position mode is changing from a more accurate mode to a less accurate mode (e.g., changing
from RTK to GLIDE), the receiver uses the Maintain option.
When the position mode is changing from a less accurate mode to a more accurate mode (e.g., GLIDE to
RTK), the receiver uses the Transition option.
For example, a receiver is configured to do both RTK and GLIDE. If this receiver has a fixed RTK position
and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the
offset between the two position modes and uses the GLIDE position stability to maintain the previous
trajectory. Over time the GLIDE (or non-RTK) position will experience some drift. Once the RTK position is
achieved again the receiver will start using the RTK positions for position stability and will slowly transition
back to the RTK positions at a default rate of 0.005 m/s or the time specified in the
STEADYLINE
command.
Figure 13: Steadyline Prefer Accuracy
Position
Intended Path
change to
lower accuracy
solution
change to
higher accuracy
solution
Position
Intended Path
change to
lower accuracy
solution
change to
higher accuracy
solution
Position
Intended Path
change to
lower accuracy
solution
change to
higher accuracy
solution