5.1 Basic Information

5.2 Phenomenon

The lawn mower was found outside the boundary or inside the No-go zone with a corresponding error (e.g., E20), or the mower is physically inside the zone but still reports E20.

Question: Does an RTK diagnostic accuracy value of 0.01 mean the current position is accurate?

Answer:

No. A value of 0.01 only means the RTK horizontal accuracy estimate at that moment is about 1 cm. Whether it is trustworthy depends on the RTK status:

Fixed: Position is accurate, and the accuracy value is meaningful and trustworthy.

Float fixed: Position is slightly less accurate, and the accuracy value is for reference only.

Other states: Position drifts, and the accuracy value is only a reference.

So 0.01 is only trustworthy when the RTK status is Fixed. Even if 0.01 is shown, if the status is not Fixed, it cannot be used to conclude that the current position is accurate or matches the map boundary.

When you see E20 while the mower is inside the zone, or a mismatch between the actual position and the map, do not rely on 0.01 alone. Also check the RTK status and the mower's actual path.

5.3 Possible Reasons

Boundary violation and entry into the No-go zone are most likely caused by RTK errors, which fall into the following 5 scenarios:

1. RTK base station position error / lawn mower position error: The RTK is accurate during map construction, but signal occlusion occurs during subsequent use.
2. When building the map, the RTK signal in some areas was poor, which caused the map boundary to be inconsistent with expectations, leading to boundary crossing during subsequent normal use.
3. The distance between the base station and the lawn mower is too far, or the RTK signal is unstable due to obstruction by dense or tall buildings.
4. Internal interference inside the machine body, and the Primary Antenna Gain value is too low.
5. RTK or navigation-related bugs

For all issues suspected to be related to RTK, it is recommended to provide a screenshot of the RTK Diagnostic page. Attached is the description of RTK-related parameters:

5.4 Troubleshooting Steps

1. Check whether there is a discrepancy between the position displayed by the machine in the APP and the actual position, whether the boundary crossing always occurs at the same position, whether it hAPPens randomly or is an issue that is guaranteed to reproduce in this area.
2. Provide photos of the RTK installation location and the working area of the lawn mower
3. Map setting suggestion: Divide the occluded area into multiple sub-zones so that the mower only stays in the occlusion for a very short time after each entry, avoiding excessive positioning errors.

5.5 Solutions

1. If the actual mower position is found to be inconsistent with the map created in the APP, please back up the map first and contact Lymow Support to determine whether the zone that went out of bounds needs to be redrawn.
2. Please let Lymow Support know the maximum distance between the lawn mower and the RTK base station when the problem occurred.

If the issue persists after following the steps above, please contact Lymow Support Center at support@lymow.com with the following information:

• Order ID/Purchase Invoice
• Device serial number (SN)
• RTK Diagnostic Page
• Troubleshooting results (with photos)
• Time the issue occurred

We will follow up as soon as possible and provide a solution.