I agree- without a counterpoise, using only a ground rod- you will be heating up a lot of earth ! ...

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And no transformers!
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All that RF return, occuring at those 'magic nodes' of a quarter wave etc., will not be flowing thru a low loss wire matrix- but thru high loss earth. If one is lucky, the earth my have a high conductivity- but if its dry, sandy, rocky stuff- anticipate half your power gone, right there. Warm happy gophers....

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What is upsetting (well, maybe to me) is that radio Hams think they can drive a ground rod into the earth at the base of a vertical and call it "done." This is especially sad since it is entirely possible to achieve a great SWR reading, but the innocent, Unaware doesn't know that this is basically a earth warming arrangement.
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With a ground mounted vertical, the ideal is at least 120-or-so, radials, at least a quarter wavelength, streaming 360 in all directions about the base (and NOT buried deep!- remember- any return thru any earth: Bad.........) This will capture and return the majority of the field, and approach a 0 db loss. You want all the return to be Copper' ( or the metallic of your choice)-- not Mother earth. Raise the base and its counterpoise to snatch all the return before Mother chews it up....

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With a vehicle (that includes trailers etc.) such ideal counterpoises are not possible. The return path is going to miserable at best. You want as much of the return thru the vehicles metal body- why the elevated base. Yes, an HF mobile whip can show such a beautiful SWR, but half its power can be going, right off- for naught. Add in all the other factors, and it can seem hardly worth the while. My example of the 8 Mhz mobiles are a case in point- with their short whips, the efficiency is calculated at 12% compared to a perfect quarter wave over a perfect ground. But surpisingly this translates into only a few "S" units difference. If you are careful about the placement of the base on the vehicle, you can gain another decibel (if that is important- but also look to things like low loss loading coils, centre and top loading v.s base- for instance---this will effect where the maximum current flows in the vertical-- These pay big dividends.)
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Ground losses are things you can't do much about with mobile setups- but the other things can lessen the over all losses tremendously.
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Stand back from your antenna and imagine all the return paths to its base-- the more that can be eliminated in being burned up by the earth, the higher the efficiency.
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...................................CF
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