> For the complete documentation index, see [llms.txt](https://docs.rtkdata.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.rtkdata.com/integration-hub/lidar-scanners-and-mobile-mapping/emesent-hovermap-backpack-vehicle-rtk.md). # Emesent Hovermap RTK Setup: Backpack & Vehicle NTRIP Georeference Emesent Hovermap ST and ST-X scans with RTKdata: NTRIP on the Emlid, Trimble or Leica rover, NMEA into the Hovermap and base CRS in Aura. Hovermap RTK on an Emesent Hovermap ST or ST-X comes from an external GNSS rover on the Backpack RTK or Vehicle RTK mount: the rover connects to RTKdata over NTRIP, computes the RTK fix and streams NMEA into the Hovermap by cable. Commander shows the RTK status, and Emesent Aura uses the RTK trajectory to georeference the SLAM point cloud. {% hint style="info" %} * Emesent GX1 handheld: it has built-in GNSS and its own NTRIP profile in Commander, see [Emesent GX1 RTK Setup: NTRIP Profile in Commander](/integration-hub/lidar-scanners-and-mobile-mapping/emesent-gx1.md). * Hovermap on a DJI M300 or M350 with Drone RTK: not covered on this page. For RTKdata on the drone, see [DJI Matrice 300 / 350 RTK](/integration-hub/drones-and-uavs/dji-matrice-300-350-m30t.md). {% endhint %} Enter these RTKdata values in the rover, not in the Hovermap. Select the tab for the region you scan in: pick the server closest to your work area, all three share the same base station network (see [NTRIP Server Settings](/get-started/network.md)). {% tabs %} {% tab title="North America" %} * **Host (domain):** `rtk.rtkdata.com`, in **Address** (Emlid Flow) or **Ntrip Caster http(s)://** (Trimble web interface), without `http://` * **Host (IP fallback):** `13.56.117.10`, in the same field, only if the rover cannot connect by hostname * **Port:** `2101`, in **Port** (Emlid Flow) or as the port of **Ntrip Caster http(s)://** (Trimble) * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login. Emlid Flow: **Username** and **Password**. Trimble: **User Name**, **Password** and **Verify Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`, typed by hand in **Mount Point** {% endtab %} {% tab title="Europe" %} * **Host (domain):** `eu.rtkdata.com`, in **Address** (Emlid Flow) or **Ntrip Caster http(s)://** (Trimble web interface), without `http://` * **Host (IP fallback):** `3.73.41.96`, in the same field, only if the rover cannot connect by hostname * **Port:** `2101`, in **Port** (Emlid Flow) or as the port of **Ntrip Caster http(s)://** (Trimble) * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login. Emlid Flow: **Username** and **Password**. Trimble: **User Name**, **Password** and **Verify Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`, typed by hand in **Mount Point** {% endtab %} {% tab title="Australia" %} * **Host (domain):** `aus.rtkdata.com`, in **Address** (Emlid Flow) or **Ntrip Caster http(s)://** (Trimble web interface), without `http://` * **Host (IP fallback):** `54.206.56.130`, in the same field, only if the rover cannot connect by hostname * **Port:** `2101`, in **Port** (Emlid Flow) or as the port of **Ntrip Caster http(s)://** (Trimble) * **Username / Password:** From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login. Emlid Flow: **Username** and **Password**. Trimble: **User Name**, **Password** and **Verify Password** * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`, typed by hand in **Mount Point** {% endtab %} {% endtabs %} On Emlid, also switch on **Send receiver's position to the provider**. On a Leica GS18, GS18T or GS18I, enter the same values in the Captivate NTRIP profile as described in the [Leica GS18 guide](/integration-hub/gnss-rovers-and-receivers/leica-gs18.md) (written for the GS18T). | Field | Value | | --------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | | Host, North America | `rtk.rtkdata.com` (IP fallback `13.56.117.10`) | | Host, Europe | `eu.rtkdata.com` (IP fallback `3.73.41.96`) | | Host, Australia | `aus.rtkdata.com` (IP fallback `54.206.56.130`) | | Host field in the rover | **Address** (Emlid Flow) or **Ntrip Caster http(s)://** (Trimble web interface), hostname only, without `http://` | | **Port** | `2101` | | **Mount Point** | `AUTO` in capital letters (alternatives: `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`) | | **Username** (Trimble: **User Name**) | From *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/). Starts with `rtk`, not your website login | | **Password** | From *RTK Credentials*, not your website password | | **Send receiver's position to the provider** (Emlid only) | On | {% hint style="warning" %} * Type the username and password rather than pasting them, with no space at the start or end. * The RTKdata sourcetable (the mountpoint list) loads without login. A visible mountpoint list proves neither your credentials nor a correction stream (checked on 25 September 2026). * One set of credentials allows one connection at a time. Every rover connected at the same time needs its own data stream, see [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices). {% endhint %} This page is part of the [LiDAR scanner and mobile mapping guides](/integration-hub/lidar-scanners-and-mobile-mapping.md). ## How does Hovermap RTK get its corrections from RTKdata? Hovermap RTK gets its corrections from RTKdata through the external GNSS rover: RTKdata sends the corrections to the NTRIP client in the rover, and the rover passes its RTK position to the Hovermap as NMEA over a cable. The chain for Hovermap Backpack RTK and Hovermap Vehicle RTK is the same: 1. RTKdata streams RTCM 3.2 corrections with MSM messages over NTRIP from your regional host, mountpoint `AUTO`. 2. The NTRIP client in the rover receives them: Emlid Flow for Emlid, the receiver web interface or Trimble Mobile Manager for Trimble, Leica Captivate for Leica. 3. The rover computes the RTK fix. 4. The rover streams NMEA over the cable through the Backpack or Vehicle RTK mount into the Hovermap. 5. Commander shows the RTK status on the tablet. 6. Aura combines the RTK trajectory with SLAM and georeferences the point cloud. For Backpack and Vehicle RTK the Hovermap has no NTRIP client of its own. Emesent states that "Emesent Commander only provides RTK information from GNSS receivers connected to Vehicle RTK and Backpack RTK devices". All Hovermap NTRIP settings therefore go into the rover, and the rover needs its own internet connection. The correction format only matters between RTKdata and the rover: the Emlid, Trimble and Leica rovers on Emesent's list process RTCM 3, and the Hovermap itself receives only NMEA. See [Correction format](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md#correction-format). {% hint style="warning" %} `AUTO` needs the rover position (NMEA GGA). The caster uses the position the rover sends as NMEA GGA to choose the nearest base station. Without GGA, the rover logs in successfully but receives no corrections, see [NTRIP & GGA Essentials](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md). Switch the rover on outdoors and let it find its own position before you connect, so it has a position to send. * Emlid: switch on **Send receiver's position to the provider** in the NTRIP profile. Emlid describes this switch for VRS services; for the RTKdata `AUTO` mountpoint it is required. The linked RTKdata Emlid guides word this setting differently; it is the switch in the NTRIP profile that sends the receiver's position. * Trimble: Trimble's help does not state explicitly that the receiver's NTRIP client sends GGA. Check that the client shows **Up and Connected** and that the receiver reaches RTK fix. * Leica: follow the GGA step in the [Leica GS18 guide](/integration-hub/gnss-rovers-and-receivers/leica-gs18.md) so that Captivate sends the rover position. {% endhint %} ## What do you need for Backpack or Vehicle RTK? For Hovermap Backpack or Vehicle RTK with RTKdata you need a Hovermap ST or ST-X with Emesent's Backpack RTK or Vehicle RTK kit, a supported GNSS rover with internet, an Android tablet with Commander, Emesent Aura for processing and an RTKdata account. * Hovermap ST or ST-X with the Backpack RTK or Vehicle RTK kit * A rover from Emesent's list: Emlid Reach RS2, RS2+ or RS3, Trimble R10, R10-2, R12, R12i or R980, Leica GS18, GS18T or GS18I. The Emlid Reach RS4 is not on this list. * Cabling as described by Emesent: the rover cable with the black Lemo connector goes into the **Adaptor port**. Trimble and Leica rovers also need the **GNSS adaptor cable** in the RTK mount, fixed to the **magnetic plate**. * Internet at the rover: a SIM card in the rover (Emlid RS2+ and RS3 have LTE, the RS2 a 3.5G modem with 2G fallback, the Trimble R980 an LTE modem, the Trimble R10 an internal 3G modem), or the mobile data of the tablet or phone * Trimble only: the NMEA option installed in the receiver. If it is missing, ask your Trimble dealer. * Android tablet with Emesent Commander. Emesent lists Android 10 or later, a Snapdragon 778G or Exynos 1380 processor and 8 GB RAM as minimum. * Commander login: from Commander 2.2, Commander asks you to log in with your Emesent account. Do this before the job while the tablet has internet, not while it is on the scanner Wi-Fi. The session lasts 180 days. * Emesent Aura on Windows for processing * RTKdata account with active RTK credentials (username starts with `rtk`) * Base station coverage at the site: check the [coverage map](/get-started/coverage-map.md) before the job Emesent supports only its recommended software versions, listed below. Older versions cause known problems: Trimble and Leica rovers need at least Cortex 3.3.3, the Trimble R980 needs at least Aura 2.2, and Aura versions before 2.2 could align the trajectory to GNSS only at the end of the scan, which produced inaccurate georeferencing. Current app version when this page was written: Emesent Aura 2.2.2, Commander 2.3.0 and Cortex 4.1.3 (September 2026). {% hint style="info" %} Don't have an RTKdata.com account yet? 👉 [Start 30-day Free Trial](https://rtkdata.com/try-rtk-corrections-free-for-30-days/) or [View Pricing](https://rtkdata.com/pricing/) {% endhint %} ## How do you set up an Emlid rover for Hovermap with RTKdata? To set up an Emlid Reach RS2, RS2+ or RS3 for a Hovermap with RTKdata, set Emesent's GNSS and NMEA values in Emlid Flow, turn off the RS3 IMU, give the rover internet and create an NTRIP profile with your regional RTKdata host (for example `eu.rtkdata.com`), port `2101`, mountpoint `AUTO` and **Send receiver's position to the provider** switched on. The steps are the same for Backpack RTK and Vehicle RTK. For the Emlid Flow basics, see [Emlid Flow](/integration-hub/ntrip-clients-and-field-software/emlid-flow.md), [Emlid Reach RS3](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs3.md) and [Emlid Reach RS2+](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs2+.md). {% hint style="warning" %} The Hovermap values on this page take precedence over general rover guides, including the linked RTKdata guides for the Reach RS3, Trimble R12i and Leica GS18, which turn tilt compensation on for work with a survey pole. Emesent specifies BeiDou off at 10 Hz (Emlid's general NTRIP guide uses all satellite systems at 5 Hz), NMEA output to the Hovermap, IMU and tilt compensation off, and antenna height 0 on Trimble and Leica. Emesent also warns that the Hovermap cannot detect a wrong antenna height. Use the values on this page for Hovermap work. {% endhint %} {% stepper %} {% step %} ### Connect Emlid Flow to the rover Open Emlid Flow and connect to the rover over Bluetooth. If the same tablet runs Commander, its Wi-Fi joins the Hovermap network later, so Bluetooth keeps both connections possible. Bluetooth needs receiver firmware 32.2 or later and Emlid Flow 12.2 or later. {% endstep %} {% step %} ### Set the GNSS settings Emesent specifies In **Settings** > **GNSS settings**: * **Elevation mask angle**: 15 * **SNR mask**: 35 * **GNSS systems**: GPS, GLONASS, GALILEO and QZSS, with BeiDou off * **GNSS update rate**: 10 Hz Since Emlid firmware 33, 10 Hz is only available with BeiDou off. {% endstep %} {% step %} ### Stream NMEA to the Hovermap 1. Open **Settings** > **Position Streaming 1** > **Edit Serial** and set **Port** to **RS-232**, **Baud rate** to 115200 and **Format** to **NMEA**. 2. In **NMEA Settings**, set **Tilt compensation for NMEA** to **Do not compensate receiver position** (where your receiver shows this option) and **Talker ID** to **GN**. 3. Under **Message type**, enable **GGA**, **GSA**, **GST** and **ZDA** at 10 Hz, and **GSV**, **RMC**, **VTG** and **EBP** at 1 Hz. Enable **ETC** as well. Its rate cannot be changed in Emlid Flow, so only switch it on. The NMEA rate must be equal to or lower than the **GNSS update rate**. {% endstep %} {% step %} ### Reach RS3 only: turn off the IMU Open **Settings** > **IMU** and switch the IMU off, for Backpack and Vehicle RTK alike. On an RS3 used as a rover for the first time the IMU is already on, and a reflash or factory reset restores the defaults, so check this again after either. {% endstep %} {% step %} ### Give the rover internet access Choose how the NTRIP connection reaches the internet: * **NTRIP via Reach** with a SIM card in the rover. We recommend this option for the Hovermap, because the tablet that runs Commander sits in the Hovermap Wi-Fi, which has no internet. To set up the SIM: while connected over Bluetooth, open **Profile** > **App settings** > **Preferences** and enable the advanced connection option. On Android, turn off the tablet's mobile data while you join the rover's hotspot. Then open **Settings** > **Mobile data**, enter the **APN settings** if your carrier needs them and switch mobile data on. Afterwards, connect to the rover over Bluetooth again. * **NTRIP via mobile device**, only if the tablet or phone has its own mobile internet. Emlid Flow then runs in the background while you work in Commander, and Emlid support has described corrections dropping when Emlid Flow is pushed to the background. Turn off battery optimization for Emlid Flow and allow its notifications. The Reach RS2 (without plus) has a 3.5G modem with 2G fallback. Where those networks are switched off, use **NTRIP via mobile device** with the tablet's mobile data. {% endstep %} {% step %} ### Create the RTKdata NTRIP profile 1. Open **Correction input** and, under **NTRIP**, select **NTRIP via Reach** or **NTRIP via mobile device**. Do not select **Emlid Corrections**. 2. Tap **Add profile** and enter: * **Address**: your regional host from the tabs at the top of this page (`rtk.rtkdata.com`, `eu.rtkdata.com` or `aus.rtkdata.com`), without `http://` (even where an example in other documentation shows one) and without `:2101`, because the port has its own field. Emlid documents this field as the URL or IP address of the caster, so enter the IP fallback of your region only if the hostname does not connect. * **Port**: `2101` * **Username** and **Password**: from *RTK Credentials*, typed by hand * **Mount Point**: `AUTO`, typed in capital letters 3. Switch on **Send receiver's position to the provider**. 4. Tap **Save**. {% endstep %} {% step %} ### Wait for FIX Emlid Flow first shows **Waiting for corrections**. The solution status at the top right then moves from **SINGLE** to **FLOAT** to **FIX**. Switch on the Hovermap only once the rover shows **FIX**. {% endstep %} {% endstepper %} ## How do you set up a Trimble or Leica rover? To set up a Trimble or Leica rover for a Hovermap with RTKdata, set the NMEA output, antenna and tilt values Emesent specifies, then add an NTRIP connection with your regional RTKdata host and mountpoint `AUTO`: on Trimble in the receiver web interface, on Leica in Captivate as described in the Leica GS18 guide. Antenna height is 0 on both, because Aura applies the mount offset itself. The RTKdata guides for the [Trimble R12i](/integration-hub/gnss-rovers-and-receivers/trimble-r12i.md) and for [Trimble receivers](/integration-hub/gnss-rovers-and-receivers/trimble-receivers.md) set up NTRIP in Trimble Access on a controller, and the R12i guide uses tilt compensation for pole work. For the Hovermap, Emesent requires the receiver web interface, so use those guides as background only. {% tabs %} {% tab title="Trimble R10, R10-2, R12, R12i, R980" %} Configure the receiver in its web interface, not in Trimble Access or on a Trimble controller. Emesent notes that configuring from a controller overwrites the Hovermap settings. 1. Join the receiver's Wi-Fi, open `https://192.168.142.1` in a browser and log in as `admin` with the default password `password`. On the first login Trimble asks for a new admin password, and until you set it the menu shows only **Security** and **Firmware**. In a phone browser, tap **Show Classic Web GUI** to get the full menu. Keep the new password: Trimble's way back from a lost admin password is a factory reset, after which you repeat this whole setup. 2. **Receiver Status** > **Receiver Options**: **NMEA** must be marked under **Installed**. 3. **I/O Configuration** > **Port Summary** > **Configure** for RS-232 Port 1: **Input** None, **Output** **NMEA**, **Baud** 115200, **Parity** N, **Flow** Disabled. Enable GGA, GSA, GST and ZDA at 5 Hz and GSV at 1 Hz, then **OK**. 4. **Receiver Configuration** > **Antenna**: **Antenna Measurement Method** **Antenna Phase Centre**, **Antenna Height** 0.000. 5. **Receiver Configuration** > **INS**: clear **INS Enable**, then **OK**. 6. Vehicle RTK only: **Receiver Configuration** > **Position**: **Receiver Motion** **Kinematic**. 7. **I/O Configuration** > **IBSS/NTRIP Client**: tick **Enable** and leave **IBSS Mode** and **RTXIP mode** off. In **Ntrip Caster http(s)://** enter your regional host (for example `rtk.rtkdata.com`) and the port `2101`; Trimble describes this setting as the address and port of the NTRIP caster. The label already contains `http(s)://`, so do not type `http://` again. Leave **Enable SSL/TLS** off. Fill in **User Name**, **Password** and **Verify Password**, and type `AUTO` in **Mount Point** by hand. 8. Wait until the client status shows **Up and Connected** and the receiver reaches RTK fix. The field names in steps 7 and 8 come from Trimble's R980 help. On the R10, R10-2, R12 and R12i the web interface may word them differently. Internet for the Trimble NTRIP client: on the R980, use the LTE modem (**LTE Modem** > **Configuration**: **Enable**, then **APN** or **Use APN from SIM**). The R10 has an internal UMTS (3G) modem. Where the receiver has no mobile connection, Emesent suggests streaming corrections through Trimble Mobile Manager on the mobile device. If Trimble Mobile Manager runs on the same tablet as Commander, that tablet is in the Hovermap Wi-Fi, so it needs its own mobile data, as with Emlid's **NTRIP via mobile device**. {% endtab %} {% tab title="Leica GS18, GS18T, GS18I" %} Set the NMEA and antenna values in steps 1 to 3 in Leica Captivate, on a CS20 controller or in the Captivate Simulator on a PC connected to the GS18 Wi-Fi. Use the Simulator only for these settings: in the [Leica GS18 guide](/integration-hub/gnss-rovers-and-receivers/leica-gs18.md), the internet and NTRIP connection runs from Captivate on the controller. 1. **Settings** > **Connections** > **All other connections** > **NMEA 1**: switch on **Stream NMEA**, set **Connect using** to **GS Port 1** and **NMEA Version** to **4.0 (extended)**, and leave **Use a defined talker ID** unticked. 2. Under **Messages**, set GGA, GSA, GST and ZDA to 0.20 and GSV to 1.00, each with **Immediate**. 3. **Settings** > **GS Sensor**: untick **Tilt Compensation**, set **Rover antenna** to **ADVNULLANTENNA** and **Antenna height** to 0.00 m. Keep 0.00 m with spacers as well, Aura applies the mount offset. 4. On the controller, work through these steps of the [Leica GS18 guide](/integration-hub/gnss-rovers-and-receivers/leica-gs18.md), which is written for the GS18T: *Set up internet connection*, *Create an RTK rover profile*, *Enter RTKdata.com NTRIP settings*, *Configure GGA position sending* and *Start the RTK survey*. Use the host, port `2101` and mountpoint `AUTO` from the tabs at the top of this page and the username and password from *RTK Credentials*. Skip only the guide's tilt compensation section: for the Hovermap, **Tilt Compensation** stays off. 5. Wait until Captivate shows **Fixed**, as in the last step of that guide, before you switch on the Hovermap. 6. Keep the controller and its hotspot, USB tethering or SIM connected for the whole scan. In the Leica GS18 guide the internet connection runs through the controller. 7. Repeat the Hovermap configuration after a firmware upgrade or when the rover was set up for another job. {% endtab %} {% endtabs %} ## In which order do you start the rover and the Hovermap? Start the rover first, let it connect to RTKdata over NTRIP and reach RTK fix, then switch on the Hovermap, because the rover sends data only once it has GNSS lock and a Hovermap started earlier does not detect it. Follow this order every time you power up, not only on the first setup: 1. Switch on the rover, let the NTRIP connection come up and wait for FIX. 2. Switch on the Hovermap and wait until the status LEDs change from flashing red to pulsing blue. 3. In Commander, tap **Connect Network**, join the Hovermap Wi-Fi and confirm **Keep WiFi connection** if asked. 4. Start a **Non Autonomous Mapping Mission**. On the **Connectivity** page, check that the GNSS receiver is connected and that the **RTK** section shows **RTK Fix**. 5. Start the scan outdoors with RTK Fix, then continue indoors if needed. The RTK status stays visible in the header during the scan. If the Hovermap was switched on first, leave the rover on and restart the Hovermap, or unplug and replug the GNSS cable. | Commander status | What it means | | ---------------- | ------------------------------------------------------------------------------------------------------------------- | | **RTK Fix** | The rover has an RTK fix. Emesent gives about 3 cm horizontal accuracy. | | **RTK Float** | Corrections arrive, but the rover has no fix yet. Emesent gives about 30 cm. Wait for **RTK Fix** before you start. | | **RTK Single** | The rover positions without corrections. The problem is between the rover and RTKdata. | | **RTK Offline** | The receiver is connected but reported offline. Emesent names wrong NMEA message settings as one cause. | | **No GPS** | The Hovermap receives no GNSS data from the rover. | When a connected receiver reports offline, Commander does not let you move to the next page or start the scan. Commander 2.3 also has an optional **PPK** toggle as a backup for post-processing. It only works if RINEX logging on the rover was started before the scan, and this page covers the real-time RTK path only. For Vehicle RTK, Emesent recommends driving at 40 to 60 km/h (25 to 37 mph). Where the RTK signal is weak, for example in built-up areas with a limited view of the open sky, the Hovermap automatically prioritizes SLAM positioning. Emesent notes that this does not improve georeferencing accuracy and that ground control points may be needed there for higher accuracy. ## Which base CRS do you choose in Aura? In Emesent Aura, set the **Base coordinate reference system** to the datum your RTKdata corrections come in: with the `AUTO` mountpoint that is the regional datum of where you scan, for example NAD83(2011) in the USA, NAD83(CSRS)v7 in Canada, ETRS89 (realization ETRF2000) in Europe or GDA2020 in Australia. 1. **Process** > **+ Process Scan**. In **Configure New Scan Job**, choose the workflow **Slam/RTK**, use **Add Dataset** and switch on **Use RTK data**. 2. **Processing Settings** > **General** > **Georeferencing**: select the **RTK device** (Backpack or Vehicle) and the **GNSS receiver** that match your hardware. The Trimble R980 is listed as **Trimble R12i/R980**. According to Emesent, a wrong receiver still gives a usable point cloud, but with lower accuracy. 3. **Base coordinate reference system**: the datum from the table below. If the list does not offer that exact datum, use **Custom base coordinate reference system** rather than a similar-looking entry. Choose WGS 84 only where `AUTO` delivers WGS84(G2139) for your region, see the table. In **Custom base coordinate reference system**, Aura expects a PROJ string that describes the geodetic CRS, see Emesent's article [Processing with RTK Data in Aura](https://knowledge.emesent.com/articles/rtk). 4. For heights in a national height system, open **Reprojection**, choose **Horizontal** first and then **Vertical** or **Import geoid file**. **Vertical** becomes available only after you choose a horizontal CRS. 5. **Save**, run the processing and check the result in **Visualize**. {% hint style="info" %} Datum with `AUTO` in Aura: * Mountpoint `AUTO`: **Base coordinate reference system** is the regional datum that `AUTO` delivers for your location, see the table below and the full list in [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md). Emesent's own setup videos select GDA2020 because the corrections used there are in GDA2020, and one of them then reprojects to MGA Zone 56 with AHD heights. * Mountpoint `AUTO_WGS84`: WGS84(G2139) at the mid-year epoch, so choose base CRS WGS 84 with this mountpoint. With `AUTO`, WGS 84 is also correct in regions that the table in Coordinate Systems & Datums does not list. `AUTO_ITRF2020` and `AUTO_ITRF2014` deliver ITRF2020 and ITRF2014 at the current epoch, so choose ITRF2020 or ITRF2014 as base CRS with them. * A wrong base CRS labels the point cloud in the wrong datum and shifts it. You can correct it afterwards without reprocessing: **Project** > **Export reprojection** > **Edit Source CRS**. * RTKdata heights are ellipsoidal. Without **Vertical** or a geoid in **Reprojection**, the point cloud keeps ellipsoidal heights. See [Understanding Heights](/get-started/understanding-heights.md). {% endhint %} | Where you scan | Datum delivered by `AUTO` (choose as base CRS) | | ------------------------------------------------- | ---------------------------------------------- | | USA | NAD83(2011) | | Canada | NAD83(CSRS)v7 | | Europe | ETRS89, realization ETRF2000 | | Australia | GDA2020 | | New Zealand | NZGD2000 | | South America | SIRGAS2000 | | Regions not listed in Coordinate Systems & Datums | WGS84(G2139) at the mid-year epoch | This is an excerpt. For every other country, including Hawaii, Mexico and Asia, use the table in [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md#regional-geodetic-coordinate-system-rgcs). How the datum of the corrections carries into a SLAM point cloud in general is explained in [Georeference SLAM Point Clouds with RTK](/integration-hub/lidar-scanners-and-mobile-mapping/georeferencing-slam-point-clouds-with-rtk.md). Before the job, check on the [coverage map](/get-started/coverage-map.md) how far the nearest base station is from the site, and check the result against control points. Emesent's published Vehicle RTK accuracy validation used a local base station no more than 1 km away, and for best results Emesent suggests a local base over a known point on the site, with a nearby CORS network as the more convenient option. With network RTK such as RTKdata `AUTO`, the baseline to the nearest base station can be longer: keep to Emesent's recommendation of up to 10 km (up to 25 km for lower requirements), and note that Emesent states georeferencing accuracy drops by about 1 mm per km of baseline. ## What if Commander shows No GPS or RTK Single? If Commander shows **No GPS**, the Hovermap receives no NMEA from the rover; if it shows **RTK Single**, the rover streams NMEA but receives no RTKdata corrections. Work through the table from the top. | Symptom | Cause | Fix | | --------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **No GPS** | Hovermap switched on before the rover had GNSS lock | Leave the rover on and restart the Hovermap, or unplug and replug the GNSS cable. | | **No GPS** with a Trimble or Leica rover | **GNSS adaptor cable** missing | Connect the adaptor cable in the RTK mount and fix it to the **magnetic plate**. | | **No GPS**, **RTK Offline** or **RTK Error** | The rover does not stream the expected NMEA: Emlid **Position Streaming 1** or the Trimble NMEA port not set, Trimble NMEA option missing, or settings lost after a firmware update, reset or reflash | Repeat the rover configuration on this page. | | No RTK status in Commander at all | Cortex older than 3.3 or Commander older than 1.5 | Update to the versions Emesent recommends. | | **RTK Single**, Emlid Flow stays on **Waiting for corrections** | Wrong credentials, no internet at the rover, position not sent, or a network that blocks outbound TCP port 2101 | Re-type the *RTK Credentials*, check the SIM or tablet data, switch on **Send receiver's position to the provider**, and test over mobile data instead of an office network. | | Rover does not connect with the hostname | The rover or its network cannot resolve the hostname | Enter the IP fallback of the same region in the host field (`13.56.117.10`, `3.73.41.96` or `54.206.56.130`), keep port `2101` and mountpoint `AUTO`. | | Trimble: **Invalid Username or Password** | Wrong credentials | Re-type the username (starts with `rtk`) and password from *RTK Credentials*. | | Trimble: **Invalid Mountpoint** | Mountpoint misspelled | Type `AUTO` in capital letters. | | Trimble: **Failed to connect to remote NTRIP Caster** | No internet at the receiver | Check the LTE modem and APN (R980) or 3G coverage (R10). Otherwise stream corrections with Trimble Mobile Manager. | | Trimble: **No GNSS data from Caster** | The caster delivered no correction data for the request | Check the mountpoint `AUTO` and the regional host. If it persists, contact with the time of the attempt. | | Trimble: **Up and Connected**, but the receiver never reaches RTK fix | The caster may not receive the rover position: `AUTO` needs GGA, and Trimble's help does not document whether this client sends it | Check the sky view and the baseline, then contact with the time of the attempt. | | Stays on **RTK Float** or never reaches fix | Long baseline or blocked sky | Emesent recommends a baseline of up to 10 km (up to 25 km for lower requirements) and names more than 15 km as a typical reason for no RTK fix. Check the [coverage map](/get-started/coverage-map.md) and start the scan outdoors in open sky. | | Corrections drop as soon as a second device connects | Two devices on one set of credentials | One connection per data stream, see [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices). | | Emlid Flow does not find the rover over Bluetooth | Since Emlid firmware 33, a Reach supports one active Bluetooth connection at a time | Disconnect the rover from other devices and apps. | | Point cloud offset although Commander showed **RTK Fix** | Wrong base CRS, wrong **GNSS receiver** in Aura, or Aura older than 2.2 | Set the base CRS from the `AUTO` datum table, correct it with **Project** > **Export reprojection** > **Edit Source CRS**, select the right **GNSS receiver**, and use Aura 2.2.2. | | Heights differ from benchmarks by tens of meters | Ellipsoidal heights | Set **Vertical** or **Import geoid file** under **Reprojection**. See [Understanding Heights](/get-started/understanding-heights.md). | For connection problems that are not specific to the Hovermap, see [Fix NTRIP Connection Issues](/support/common-connection-issues.md). ## Frequently asked questions ### Which NTRIP correction service works with Emesent Hovermap Backpack RTK? Emesent Hovermap Backpack RTK takes its corrections from the NTRIP service the GNSS rover connects to, for example RTKdata: the corrections go to the rover, not to the Hovermap. Emesent does not prescribe a provider: its documentation names government or private CORS networks, VRS services and RTN or CORS services. All Hovermap NTRIP settings go into the rover: with RTKdata, enter your regional host (`rtk.rtkdata.com` for North America, `eu.rtkdata.com` for Europe, `aus.rtkdata.com` for Australia), port `2101` and mountpoint `AUTO` in the rover's NTRIP client (Emlid Flow, the Trimble web interface or Leica Captivate). ### Should tilt compensation be on for a Hovermap RTK rover? No. For Hovermap Backpack and Vehicle RTK, Emesent specifies tilt compensation and the IMU off: **Settings** > **IMU** off on the Emlid RS3 and NMEA without tilt compensation, **INS Enable** cleared on Trimble, and **Tilt Compensation** unticked with antenna height 0.00 m on Leica. This differs from general rover guides, including the RTKdata guides for the Reach RS3, Trimble R12i and Leica GS18, which turn tilt on for work with a survey pole. ### Why does Commander show No GPS on my Hovermap? No GPS is a problem between the rover and the Hovermap (start order, cable or NMEA output), not an RTKdata correction problem: Commander shows **No GPS** when the Hovermap receives no GNSS data from the rover. The documented causes are a Hovermap switched on before the rover had GNSS lock, a missing cable or **GNSS adaptor cable**, and a rover without the NMEA output to the Hovermap. Leave the rover on and restart the Hovermap, or unplug and replug the GNSS cable, then check the rover's NMEA settings. Once the rover streams NMEA, **RTK Single** means the rover receives no RTKdata corrections, see [What if Commander shows No GPS or RTK Single?](#what-if-commander-shows-no-gps-or-rtk-single). ### Can I use an Emlid Reach RS4 with Hovermap? Emesent does not list the Emlid Reach RS4 or RS4 Pro as a rover for Hovermap Backpack or Vehicle RTK. Its list names the Reach RS2, RS2+ and RS3. The RS4 also has a different external connector (8 pins) than the RS3 (9 pins). Check with Emesent before you use an RS4; this page covers the RS2, RS2+ and RS3. Outside the Hovermap, the RS4 connects to RTKdata in Emlid Flow, see [Emlid Reach RS4 / RS4 Pro RTK Setup: Emlid Flow](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs4.md). ### Which base CRS do I choose in Aura when my corrections are in ETRS89 or NAD83? Choose the datum the corrections are in: ETRS89 for ETRS89 corrections, and for NAD83 the realization of your corrections, NAD83(2011) in the USA or NAD83(CSRS)v7 in Canada. With the RTKdata `AUTO` mountpoint, corrections come in ETRS89 (realization ETRF2000) in Europe, NAD83(2011) in the USA and NAD83(CSRS)v7 in Canada. Then set **Reprojection** for your map projection and height system. If you chose the wrong base CRS, correct it afterwards with **Project** > **Export reprojection** > **Edit Source CRS**. ## Related Guides * [LiDAR & SLAM Scanner RTK Setup: NTRIP Guides](/integration-hub/lidar-scanners-and-mobile-mapping.md): overview of all LiDAR scanner and mobile mapping guides * [Emesent GX1 RTK Setup: NTRIP Profile in Commander](/integration-hub/lidar-scanners-and-mobile-mapping/emesent-gx1.md): the Emesent handheld with built-in GNSS, set up in Commander instead of on a rover * [Georeference SLAM Point Clouds with RTK](/integration-hub/lidar-scanners-and-mobile-mapping/georeferencing-slam-point-clouds-with-rtk.md): how the datum of the corrections carries into a SLAM point cloud * [NTRIP Server Settings](/get-started/network.md): regional hosts, IP fallbacks, port 2101 and the mountpoints * [NTRIP & GGA Essentials](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md): why the rover has to send its position and which correction format RTKdata streams * [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md): the full list of regional datums that `AUTO` delivers * [Understanding Heights](/get-started/understanding-heights.md): ellipsoidal heights and geoid models for national height systems * [Account & Credentials](/get-started/account-and-credentials.md): where to find the RTK credentials and how many devices can connect at once * [Coverage Map](/get-started/coverage-map.md): check base station coverage near the site before the job * [Fix NTRIP Connection Issues](/support/common-connection-issues.md): what to check when the rover logs in but no corrections arrive * [Emlid Reach RS3](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs3.md): general RS3 setup in Emlid Flow; for the Hovermap, keep the IMU off as described on this page * [Emlid Reach RS2+](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs2+.md): general RS2+ setup in Emlid Flow * [Emlid Reach RS4 / RS4 Pro](/integration-hub/gnss-rovers-and-receivers/emlid-reach-rs4.md): RS4 setup in Emlid Flow; the RS4 is not on Emesent's rover list for the Hovermap * [Emlid Flow](/integration-hub/ntrip-clients-and-field-software/emlid-flow.md): correction input and NTRIP profiles in the app that configures every Emlid rover * [Trimble R12i](/integration-hub/gnss-rovers-and-receivers/trimble-r12i.md): Trimble Access setup for pole work, background only for the Hovermap * [Trimble Receivers with RTKdata](/integration-hub/gnss-rovers-and-receivers/trimble-receivers.md): Trimble survey styles and RTCM v3, background only for the Hovermap * [Leica GS18](/integration-hub/gnss-rovers-and-receivers/leica-gs18.md): the Captivate internet, NTRIP profile, GGA and survey start steps, written for the GS18T; keep tilt compensation off for the Hovermap * [DJI Matrice 300 / 350 RTK & M30T: Pilot 2 NTRIP](/integration-hub/drones-and-uavs/dji-matrice-300-350-m30t.md): RTKdata on the DJI M300 or M350 drone; Hovermap Drone RTK is not covered on this page ## Quick reference * Rover NTRIP: `rtk.rtkdata.com` (North America, IP fallback `13.56.117.10`), `eu.rtkdata.com` (Europe, `3.73.41.96`) or `aus.rtkdata.com` (Australia, `54.206.56.130`), port `2101`, mountpoint `AUTO`, username and password from *RTK Credentials*; on Emlid, **Send receiver's position to the provider** on. * Emlid NMEA: BeiDou off, 10 Hz; **Position Streaming 1** RS-232, 115200, NMEA; GGA, GSA, GST, ZDA at 10 Hz; GSV, RMC, VTG, EBP at 1 Hz; ETC on; RS3 **IMU** off. * Trimble and Leica: NMEA on RS-232 Port 1 (Trimble, 5 Hz) or GS Port 1 (Leica, GGA, GSA, GST, ZDA 0.20 and GSV 1.00, each **Immediate**); antenna height 0; INS or tilt compensation off. Leica: internet and NTRIP from Captivate on the controller, kept connected during the scan. * Start order: rover on, NTRIP connected, FIX (Leica: **Fixed**), then Hovermap; Commander **Connectivity** shows **RTK Fix**. * Aura: **Slam/RTK**, **Use RTK data**, **Base coordinate reference system** = the regional datum `AUTO` delivers for your location (WGS 84 for `AUTO_WGS84` and where `AUTO` falls back to WGS84(G2139); **Custom base coordinate reference system** with a PROJ string if the list lacks the datum), **Reprojection** with **Vertical** for national heights. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. 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