Novatel OM-20000053 Rev 2 manuale d’uso

OM-200000 53 Rev 2 GPSCard  Prod ucts NovAtel Inc. OM-20000 053 REV 2 MiLLennium GPSCard Software Versions 4.503 and 4.52 Command Descriptions Manual[...]

2 MiLLenni um GPSCar d SW Version 4.503/4.52 Command Des criptions M anual Rev 2 MiLLen nium Com mand Desc ription s Manual Publicatio n Number: OM-20000 053 Revisi on Level: 2 2001/ 01/16 This manual reflects S oftware Versi ons 4.5 03 and 4 .52 Proprietary Notice Information in this docu ment is subj ect to chang e without n otice and does not re[...]

MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 3 T able of Co ntents Softwa re License 10 Software Support 11 Foreword 12 Congrat ulations! ....... ....... ........... ....... ........ ........... ....... ....... ........... ....... ........ .......... ........ ....... ........... ....... .. 12 Scope ......... .......[...]

4 MiLLenni um GPSCar d SW V ersion 4.52 Command Des criptions M anual Rev 2 4 Messa ge Formats 46 4.1 RTCA-For mat Mess age s....... ....... .... ....... .... ....... .... ... ....... .... ....... .... ....... .... .... ....... ... ........ ... .. ...... ....... . 46 RTCA Stand ard Logs ..... ....... ........... ....... ........ .......... ........[...]

MiLLenni um GPSC ard SW Version 4.52 Co mmand Desc riptions Manual Rev 2 5 DYNAMICS ........... ........... ....... ....... ........... ....... ........ ........... ....... ........... ....... ....... ........... ... .... ..... . 94 ECUTOFF .......... ........... ....... ........ ........... ....... ....... ........... ....... ........ .......... .[...]

6 MiLLenni um GPSCar d SW V ersion 4.52 Command Des criptions M anual Rev 2 GPGGA Glo bal Positi on Sys tem Fix D ata.......... ........... ....... ....... ........... ....... ........ ........... ....... . 162 GPGLL Geo graphic P osition ........ ....... ........... ....... ........ ....... ........... ....... ....... ........... ........ ....... [...]

MiLLenni um GPSC ard SW Version 4.52 Co mmand Desc riptions Manual Rev 2 7 I Information Messages 244 Type 1 In formatio n Mess ages ........... ........... ........ ....... ........... ....... ....... ........... ....... ........ ........... ....... ....... .. 244 !ERRA ............. ........... ....... ....... ........... ....... ....... ........[...]

2 MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 8 Ta b l e s 1-1 GPSCard Pseudoran ge Differential Initializa tion Summ ary ................ ....... ....... ... 17 1-2 Latency-Indu ce d Extrapo latio n Error ........... .... ....... ... .... ....... .... ....... .... .... ....... ... ... 18 2-1 Comman ds By Fun ction[...]

MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 9 Figures 2-1 The WAA S Conc ept ........ ....... ....... ........ ........... ....... ....... ........... ....... ........ .......... ... 30 3-1 Pass-Th rough L og Data ....... .......... ........ ....... ........... ....... ....... ........... ........ ....... ...... 44[...]

Softwar e License 10 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 SOFTWARE LICENSE BY OPENING THE SEALED DISK PACKAGE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS AGREEMENT. IF YOU DO NOT AGREE TO THE TERMS OF THIS AGREEMENT PROMPTLY RETURN THE UNOPENED DISK PACKAGE AND THE ACCOMPANYING ITEMS TO NOVATEL INC[...]

Softwar e Support 11 MiLLenn ium GPSC ard SW 4.5 03/4.52 Comm and Descri ptions Manua l Rev 2 SOFTWARE SUPPORT Software update s are software revisio ns to an existing mo del which improves (b ut does not increase) basic functionality of the GPS receiv er. During the one year warranty coverage following initial purchase, software updates are supp l[...]

Foreword 12 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 FOREWORD Cong ratul ations ! Thank you f or purcha sing a NovA tel GPSCar d product . Whether you hav e bought a s tand alone GPSCard or a pac kaged receiver y ou will have also received companio n documents to this manu al. They will help you get the hard[...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 13 1 QUICK START This chapter will help you get started quickly regardless of whether you wish to carry out real-time kinematic (RTK) positioning, operate in differential modes or simply log data. Each s ection references additional sources of inform ati[...]

1 Qui ck Start 14 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The View menu options allow you to select or de-select various visual aids and display screens. Take a look at all of the options and keep open those you wish to display. To send command s and log data the Com mand Console screen should b e visible. [...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 15 Syntax : log [port],datatype,[trigger],[period],[offset],{hold} NOTE : The syntax for a comman d can cont ain option al parameters (OPT1, OP T2, ...). OPT2 may only be us ed if it is preceded by OPT1. OPT3 may only be used if it is preceded by OPT2 an[...]

1 Qui ck Start 16 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 COMMONLY USED LOGS Othe r use ful lo g s are • RCCA t o list the default co mmand setti ngs • ETSA to monitor the channel tracking statu s • SA T A to observe the s atellite s pecific data • DOP A to monitor the dilution of precis ion o f the[...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 17 T able 1-1 GPSCard Pseudorange Different ial Initialization Summary Initiali zation - Re ference Station Differential mode of operation is established at the reference station thro ugh a two step proces s: fix position and logging obser vation and co [...]

1 Qui ck Start 18 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 NOTE 1: Entry of the station ID and health are o ptional. For a C MR correction type th e station ID mu st be < 31 . NOTE 2: The accuracy of the reference station ’ s FIX POSITION setting will directly affect the accuracy of its computed differ [...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 19 Generall y, a communication s link capable of data thro ughput at a rat e of 4800 bit s per second or higher is sufficient. However, it is pos sible to satis factorily use a lo wer rate (e.g. 2400 bps) with the RTC A, RTCM59 an d CMR formats. RTCM Typ[...]

1 Qui ck Start 20 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 apply only to the remot e stat ion. Detai led desc riptions can be found i n Appendi x C , Comm ands Summary. In the following secti ons, keep the follo win g in mind: • Dynamics m odes. For reliable per formance th e antenna s hould no t move mor [...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 21 Exampl e: fix position 51.11358042,-114.04358013,1059.4105,119,0 log com1,rtcm3,ontime,10 log com1,rtcm59,ontime,2 2. At the remote station: accept com n ,rtcm Exampl e: accept com2,rtcm Congrat ulation s! Your RT-2 0 system i s now in operation! Moni[...]

1 Qui ck Start 22 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 USING R TCM SC-104 LOG TYPES RTCM SC-104 is a standard for transmittin g differential corrections between equipment from different manufacturers. The NovAtel GPSCard is capable of transmitting or receiving RTCM d ata. To facilitate transmitting the R[...]

1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 23 Before initializin g, ensure that th e data link with the reference statio n has been properly set up. As well, ensure that the COM port which is to receive the differential data is s et up to match the bit rate and pr otocol settings of the reference[...]

2 Comman d Descr iptions 24 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2 COM MAND DESCRIPTIONS 2.1 GEN ERAL This section describes all com mands accepted by the GPSCard with the exception of the "Special Data Input Commands". They are listed in alphabetical order . For description s of output logs us[...]

2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 25 NOTE: All previou sly stored configu rations that were save d to non-vo latile memory are erased (including Saved Co nfig, Sa ved Almanac, an d Channel Config) . Exampl e: Optional Calculatio n Of The Checksum When an input command is follow[...]

2 Comman d Descr iptions 26 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2.2 ST ANDA RD COMMAND TA BLES Table 2-1 lists the command s by functio n while Table 2-2 is an alphabetical listing of com mands. Please see Appendix C , Page 81 fo r a more detailed des cription of individu al commands which are listed al[...]

2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 27 Table 2-1 Commands By Function Table (cont inued) 1 Intended for advanced users of GPS only . POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL Commands De sc rip tio ns CSMOOTH 1 Sets amo unt of carrier sm oot hing DAT UM Choose a D A T [...]

2 Comman d Descr iptions 28 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Table 2-1 Commands By Function Table (continue d) T able 2-2 GP SCard Command Summary DIFFERENTIAL REMOTE STATION Commands Descr iptions ACCEPT Acce pts RT C M1, RTCA or RT C AB differen tial inpu t s $ALM A Inpu t al manac d ata DGPSTIMEOU[...]

2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 29 DIFF_PRO TOCOL D iffe ren tial cor rection messa ge enc odi ng and decod ing for impleme ntation in the GPS c ard firmwa re diff_pro tocol type k ey or dif f_ proto col dis abl e or di ff _pr otoc ol DYNAMIC S Set receive r dyna mics dynami [...]

2 Comman d Descr iptions 30 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2.3 WAAS The Wide Area Augmentation System (WAAS) is a safety-critical system that provides a quality of positioning information previously unavailabl e. The WAAS improves the accuracy, integrity, and availability of the basic GPS signals. [...]

2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 31 The signal broadcast via the WAAS GEOs to the WAAS users is designed to minimize modifications to standard GPS receivers. As such, the GPS L1 frequency (1575.4 2 MHz) is used, together with GPS-type modu lation - e.g. a Coarse/Acquisition (C[...]

2 Comman d Descr iptions 32 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The GPSCard is capable of log ging almanac data utilizing the NovAtel-format AS CII log command option ALMA. Once logged, the data records will precede the header with the $ character (e.g., $ ALMA). There are no specif ic NovAtel log optio[...]

2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 33 $UTCA... Use this special data i nput command to quickly update the GPSCard Universal Time Co ordinated (UTC) parameters following a sy stem restart (always ap pended to $ALMA records unless inten tionally stripped). The UTC data is req uire[...]

2 Comman d Descr iptions 34 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Chapter 3 and Append ix D, Page 19 4 . An example of a $REPA data message is as follows: $REPA,14,8B09DC17B9079DD7007D5DE404A9B2D 04CF671C6036612560000021804FD, 8B09DC17B98A66FF713092F12B359DFF7A025408 8E1656A10BE2FF125655, 8B09DC17B78F0027[...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 35 3 DATA LOGS 3.1 OUTPUT LOG GING The GPSCard provides versatilit y in your logging requirements. You can direct your logs to either COM 1 or COM2, or both ports, as well as combine data typ es. The GPSCard has four m ajor logging for mats: • NovAtel Fo[...]

3 Data Lo gs 36 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 specification. Specific logs can be disab led using the UNLOG command, whereas all enabled logs will be disabled by using the UNLOGALL command (see Chapter 2, Pa ge 24 and Appendix C, Page 134 ). All activated logs will be listed in the receiver config[...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 37 The follo wing table describes the format t ypes us ed in the des cription of binar y logs. Each byte within an int has its own address, and the smallest of the addresses is the address of the int. The byte at this lowest address contains the eight leas[...]

3 Data Lo gs 38 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 3.4 NME A FORM AT DATA LOGS General The NMEA log structures follow for mat stand ards as adopted by the National Marine Electronics Association. The reference documen t use d is "St and ard F or Int er faci ng Mar i ne Elect ron i c Devi ces NMEA [...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 39 CLKA log (field 4 ) from GPS time report ed. GPS time is based on an atomic time scal e. Universal Time Coordinated (UTC) time (reported in NMEA logs) is also based on an atomic time scale, with an off set of seconds applied to coordinate Univers al Tim[...]

3 Data Lo gs 40 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Table 3-1 Logs By Function Table (continued) SATELLITE TRACKING AND CHANNEL CONTROL Logs Descriptions ALMA/B Current de c ode d al manac data DOPA/B DOP of SVs cu rrently tracki ng ETSA/B Provides chan nel tracking st atus informa tion for eac h of the[...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 41 Table 3-1 Logs By Function Table (continued) DIFFERENTIAL REMOTE STATION Logs Descriptions CDSA/B C ommunica tion a nd differ entia l deco de stat us GPGGA NMEA, po s i ti on fix da ta GGAB NovA tel binary versio n of G PG GA POSA / B Posi tion in forma[...]

3 Data Lo gs 42 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 T able 3-2 GPSCard Log S ummary No te: A/B /D: Syntax : log port,datatype,[trigger],[period ],[offset],{hold} NovAtel Format Logs Datatype Description Da tatype Descr iption ALMA/B Decode d Almanac RCCA R eceiver Configur ation BSLA/B Baseline Measurem[...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 43 A refers to GPSCard output logs in ASCII format. B refers to GPSCard output logs in Binary format. D refers to GPSCar d output logs in com pressed binary form at. 3.7 WAAS The Wide Area Augmentation System (WAAS) is a safety-critical system that provide[...]

3 Data Lo gs 44 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure 3-1 Pass-Through Log Data When pass-throug h logs are being u sed, the GPSCard ’ s command interpre ter continues to monitor th e port for valid input commands and replies with error messages when the d ata is not recogn ized as such. If y ou [...]

3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 45 Exampl e 1: $COM1,747,347131.23,$TM1A,747,347131.000000000,0.000000058,0.00000 0024, -9.000000009,0*78<CR>*2E[CR][LF] $COM1,747,347131.31,<LF>*4F[CR][LF] $COM1,747,347131.40,Invalid Command Option<LF>*7C[CR][LF] $COM1,747,347131.42,Com[...]

4 Message F orm ats 46 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 4 MESSAGE FORMATS In a NovAtel RTK p ositioning system, th e observations transm itted by a NovAtel reference statio n to a NovAtel remote station can be in either a proprietary RTCA Type 7 or a proprietary RTCM Type 59N message format. A NovAte[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 47 RTCAREF TYPE 7 An RTCAREF ( RTCA Reference Stati on Position Inform ation) message contains reference station p osition inform ation, and s hould be se nt on ce every 10 se conds. Each message is 24 bytes (192 bi ts) long . If RTCA-format messagi[...]

4 Message F orm ats 48 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 This message was designed so that RTCA data can be intermixed with other NovAtel ASCII data over a common communications por t. The log is not in pure RTCA format. The header ( $ RTC A) and termin ator (*xx) mu st be stripped off at the receivin[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 49 Differential GPS Service (RTCM SC-104,Wash ington, D.C.), have been ad opted by NovAtel for implementation into the GPSCard. Because the GPSCard is capable of utilizing RTCM formats, it can eas ily be integrated into positio ning sy stems aro und[...]

4 Message F orm ats 50 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM Standard Commands RTCMRULE The RTCM standard states that all equipment shall support the use of the "6 of 8" format (data bits a 1 t hro ug h a 6 where bits a 1 thr ough a 6 are valid data bits and bit a 7 is set to mark and bit a[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 51 along wi th other NovA tel ASCII and b inary da ta over a commo n communicati ons port. As per the usu al conventio n, an “ A ” at the end of the log name denotes th e NovAtel AS CII versi on (e.g. RTCM1A ), and a “ B ” denotes t he NovAt[...]

4 Message F orm ats 52 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 station generating this Type 1 lo g. The log is o f variable len gth, depending on the number of satellites visible and pseudoranges corrected by the reference station. Satellite sp ecif ic d a ta begin s at word 3 of the mess age. Structure: (F[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 53 This message was designed so that R TCM data can be transmitted intermixed with other NovAtel binary data over a common commu nications port. The log is not in pur e RTCM SC104 format and is not dire ctly usable as such. GPSCard remote receivers [...]

4 Message F orm ats 54 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM9 PARTIAL SATELLITE S ET DIFFERE NTIAL CORRECTIONS RTCM Type 9 message s follow the same format as Ty pe 1 messages. However, unlike Type 1 messages , Type 9 ’ s do not require a co mplete satellite set. This allows for much faster differ [...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 55 Exampl e: $RTCM16,6649404045495E5A5C406A58696D76596D5F665F765869694D4E53604D 70696552567E7B675762747B67576C574E596F59697146555A75516F5F667D4967 5656574E53604D55565A6D69647B67777E454659685D56465A67616E4B7E7F7F7D *52 [CR][LF] RTCM16B This message i[...]

4 Message F orm ats 56 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM 59 T YPE 59N-0 NOVATEL P ROPRIETARY MESSAG E RTK RTCM Type 59 messages ar e reserved for propriet ary use b y RTCM reference station operat ors. Each message is va riable i n length , limited only by the R TCM maximum of 990 data bi ts (33 [...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 57 receiving pseud orange and carrier phase data via CMR messages (versio ns 1.0, 2.0 or 3.0) from a non- NovAtel base-station receiver. The MiLLennium can also trans mit CMR messages (version 3.0). The station ID, s ee Page 100 , must be ≤ 3 1 wh[...]

4 Message F orm ats 58 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 In support of the first two file types, Nov Atel has created six A SCII log types that contain data records in RINEX format (XOBS, XOHD, XNAV, XNHD, XKIN, and XSTA). A seventh pseudo-log type (RINEX) can be used instead to simp lify data collect[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 59 Command exa mple: COM1> rinex agency NovAtel Surveying Service Ltd. COM1> rinex antde -0.05 COM1> rinex antdh 2.7 COM1> rinex antdn 0.1 COM1> rinex antnum Field #1 COM1> rinex anttype NovAtel 501 COM1> rinex comment Field tri[...]

4 Message F orm ats 60 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Log e xample : $XOBS, 96 04 10 17 25 19.5000000 2*00 $XOBS, 4 1*2F $XOBS, *** KINEMATIC DATA FOLLOWS *** COMMENT*50 XNA V NAVIGATION DATA RECORD This log type contains b roadcast navigation message records for each satellite being used. Each set[...]

4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 61 Command exa mple: COM1> log com2 xobs ontime 5 Log exampl e: $XOBS, 96 04 10 16 12 45.0000000 0 10G22G29G 3G28G16G27G 2G18G31G19*2B $XOBS, 25589487.514 1 134473357.195 11 3689.020 1*20 $XOBS, 24031521.036 7 126285967.262 7 3673.582 7*3E $XOBS,[...]

4 Message F orm ats 62 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 XST A OBSERVATION STATIC EVENT This log gener ates a time tag and flag when a n ew site occupation begi ns. Comma nd ex ample: COM1> log com2 xsta Log e xample : $XOBS, 96 04 10 17 25 45.0000000 3 4*39 $XOBS,A980 MARKER NAME*7F $XOBS,980.1.35[...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 63 A GPS OVERVIEW The Global Positio ning System (GPS) is a satellite navigation s ystem capable of providin g a highly accurate, continuous global navigation ser vice independent of other positioning aids. G PS provides 24-hour, all-weather , worldwi d[...]

A GP S Overview 64 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 GPSCard. The GPS satellites transmit on two L-band frequencies; one centered at 1575.42 MHz (L1) and the other at 1227.60 MHz (L2). The L1 carrier is modulated by the C/A code (Coarse/Acquis ition) and the P code (Precis ion) which is encrypted for [...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 65 Figure A-2 Illustra tion of GPSCa rd Height Measuremen ts From the above diagram, and the formula h = H + N, t o convert heig hts betw een the ellipso id and ge oid we requ ire the geoid-ellipsoid se paration value. This value is not easy to determin[...]

A GP S Overview 66 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure A-3 Accuracy versu s Precis ion 5 Single-point vs. Relati ve Position ing In single-p oint pos itioning, coordinates of a GPS receiver at an unknown location are soug ht with respect to the earth ’ s reference frame by u sing the known posi[...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 67 Figure A-4 E xample of Differential Positioning Stat ic vs . Ki n e ma t i c P osit io ning Static and kinematic positi oning refer to whether a GPS receiver is stationary or in motion while collecting GPS data. Real-time vs. Post-mi ssion Data Proce[...]

A GP S Overview 68 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 1. The matched position s olutio n is computed at the remote station when the observation information f or a given epoch has arriv ed from the reference station via the data lin k. Matched observation set pairs are observations by both the ref erenc[...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 69 • Ionospheric Group Delays – The earth ’ s ionospheric layers cause var ying degrees of GP S signal pr opagatio n delay . Ion ization level s tend to be high est duri ng dayl ight hours causing propagation de lay errors of up to 30 meters , whe[...]

A GP S Overview 70 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 (GDOP < 2; no multip ath) when SA i s off and 40 meters CEP w hile AS is on. (As th e status of selective availability is generally unkno wn b y the real-time GPS us er, the p osi tioning accur acy sho uld be co nsidered to be that o f when AS is[...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 71 This function is useful for ob taining the WGS84 position of a point to a reasonable accuracy without ha ving to implement differential GP S. It is interesting to note that even a six hour o ccupation can improve si ngle point GPS accuracy fro m over[...]

A GP S Overview 72 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure A-6 Typical Differential Configuration Remote Station Reference Station Modem Radio Data Link Differential Corrections Output Differential Corrections Input GPS Receiver GPSAntenna With Chokering[...]

A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 73 THE REFERENCE STATION The nucleus of the differential network is the reference st ation. To functio n as a base station, the GPS receiver antenna must be positioned at a control point whose pos ition is precisely known in the GPS reference frame. Typ[...]

A GP S Overview 74 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 ADR doubl e differenc e = (ADR rx A, sat i - ADR rx A,sat j ) - (ADR rx B,sat i - ADR rx B,sat j ) An ambiguity v alue is estimated for each double-difference observation. One satelli te is common to every satellite pair; it is called the reference [...]

B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 75 B MU LTIPATH ELIMINAT ION TECHNOLOGY Multipath signal reception is one of the most plaguing problem s that detracts from the accuracy p otential of GPS pseudorange differential positi oning systems. This section will prov ide a[...]

B Mult ipath Elimi nation Tec hnology 76 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 settings as well. If the GPS receiver is in a valley wi th nearby hills, mountains and heavy v egetation, signal obstructio n and att enuation are als o very common. Consequences of Multipath Reception Because GPS i s a radio r[...]

B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 77 and at all bearings an d elevation angles f rom the antenna. This is, o f course, the ideal situation, which may not be poss i b le unde r actu al ope ratin g cond i tion s. Try to place the antenna as far as possible from ob v[...]

B Mult ipath Elimi nation Tec hnology 78 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The Model 600 GPSAntenna is an active an tenna designed to op erate at the GPS L1 and L2 frequencies, 157 5.42 and 1227.60 MH z. It incorp orates NovAt el ’ s i nn ovat iv e, p atent p e nd ing Pinw heel T echnol ogy - a un i[...]

B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 79 what makes NovAtel ’ s GPS antennas so successful when used with the NovAtel GPSAntenna choke ring ground plane. NovAtel ’ s Internal Receiver Sol utions for Multipath Reduction The multipath antenn a hardware solutions des[...]

B Mult ipath Elimi nation Tec hnology 80 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure B-4 Compa rison of Mu ltipath Envelopes SUMMARY Any localized propagation delays or multip ath signal reception cause biases to the GPS ranging measurements that cannot be differenced by tradit ional DGPS single or do ub[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 81 C COMMANDS SUMMAR Y ACCEPT The ACCEPT command controls the processing of input data and is primarily used to set the GPSCard ’ s COM p ort command interp reter for acceptance of v arious data form ats. Each port can be co ntrolled to allow ASCII[...]

C Com mands Su mmary 82 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Synt ax: Exampl e: accept com1 rtcm ACCEPT port option Syntax Range Value Description Default ACCEPT - Command por t COM1 or COM2 Speci fies the COM port to be co ntrolled opti on NONE Turn off Comm and Interpreter commands (GPSCard model depen[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 83 ANTENNAPOWER On MiLLennium GPSCards this command enables or disables the s upply of electrical power fro m the internal power source of the card to the low- noise amplifier ( LNA) of an active antenna. Jum per P301 allows the user to power the LNA[...]

C Com mands Su mmary 84 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 ASSI GN This command may b e used to aid in the initial acquisition of a satellite by allowing you to override th e automatic satellite/channel assignment and reacquisition processes with manual instructions. The command specifies t hat the ind[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 85 CLOCKADJUST All oscillators have some inher ent drift. On the MiLLennium GPSCard, the clock and the PPS strobe have a 50 ns jitter due to th e receiver ’ s attempts to keep the clock as close as possible to GP S time. This op tion is disab led b[...]

C Com mands Su mmary 86 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 COM n This command p ermits you to confi gure the G PSCard COM por t ’ s asynchronou s drivers. Synt ax: Exampl es: com2 19200,e,7,1,n,on,off com1 1200,e,8,1,n,on,off NOTE: Your GPSCard comes config ured this way. If you have diff erent param[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 87 COMn_R TS This command enables versatile co ntrol of the RTS handshake line for use with o utput data logging in conjunction with external devices s uch as a radio transmitter. Th e default state for the COM1 or COM2 RTS lin e is always high. COM [...]

C Com mands Su mmary 88 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 CON FIG This command switches the channel configuration o f the GPSCard between pre-defined configur ations. When invoked, this comman d loads a new satellite chann el- conf igur atio n and forces the GPSCard to r eset. Th e types of configura [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 89 CRESET Configuration Res et. Resets user configuration to the factory default. After a reset, non volatile memory (NVM) is read for u ser configuratio n. This command do es not reset the hard ware. See the Factory Default Settings . Syntax : See a[...]

C Com mands Su mmary 90 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 CSMOOTH This command sets the amount of carrier smoothing to be performed on the pseudoran ge measurements carrier. An input val ue of 100 corres ponds t o approximat ely 100 second s of sm oothing. Upo n issuin g the command , the locktime for[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 91 DA TUM This command permits you to select the geodetic datum for operation of the receiver. If not set, the value is defaulted to W GS 84 . See Table G-2 in Appendix G for a comp lete listing of all available predefined d atums. See the USERDATUM [...]

C Com mands Su mmary 92 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 DGPSTIMEOUT This command has a two-fold functio n: (1) to set the max imum age of dif ferential data th at will be accepted when o perating as a remote station. Dif- ferential data received that is older th an the specified time will be ignored[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 93 DIFF_PROTOCOL This log enables differential protocol control. NOTE: Th e D IF F_PRO TOCOL comma nd sh ould on ly be used by advanced u sers of GPS . Features: 1. A user definable key such that many diff erent types of encodin g may be used in th e[...]

C Com mands Su mmary 94 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 DYNAMICS This command in forms the receiver of user dynamics . It is used to op timally tune receiver parameters. Synt ax: Exampl e: dynamics foot DYNAMICS user_dynamics Comma nd Description Default DYNA MICS Command dynamics user_dynami cs air[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 95 ECU T OFF This command sets the elevation cu t-off angle for usabl e satellites. The GPS Card will not star t tracking a satellite until it rises above the cutoff angle. If ther e are six or less satellites being tracked and one drops b elo w this[...]

C Com mands Su mmary 96 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 EXTERNALCLOCK Overvi ew The EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY commands allows th e MiLLennium GPSCard to operate with an option al exter nal oscillator . The user is ab le to opt imally adjus t the cloc k model p arameters of the GPSCar[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 97 Syntax : Exampl e: externalclock user 1.0e-20 1.0e-24 1.0e-28 T able C-2 D efault V alues of P rocess Noi se Elements EXTERNALCLOCK option Command Option Descrip tion Default EXTERNALCLOCK disable Rever t to the on-board oscillator MiLLennium = VC[...]

C Com mands Su mmary 98 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 EXTERNALCLOCK FREQUENCY Please see the Overview and Th eor y sub-secti ons under the E XTERNALCL OCK command to unders tand the steps involved in using an optional external oscillat or with a MiLLennium GPSCard. For the chosen oscillato r, one [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 99 FIX HEIGHT This comman d conf igures the G PSCard in 2D mode with its height co nstrained to a given value. Th e command would be u sed mainly in marin e applicati ons where height in relation to mean sea level may be considered to be approximatel[...]

C Com mands Su mmary 100 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 FIX POSITIO N Invoking this co mmand will result in the GPSCard position bein g held fixed. A computation will b e done to solve local clock offs et, pseudorang e, and pseudorange d ifferential corr ections. This mode of o peration can be u se[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 101 FIX VELOCITY This command s upports INS (Inertial Navigation Sys tem) integration . It accepts ECEF XYZ velocity values in units of meters per second (m/s). Th is information is only used b y the tracking loops of the receiver to aid in reacquisi[...]

C Com mands Su mmary 102 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 FREQUENCY_OUT This command allows the user to specify the frequen cy of the output pulse train available at the variable fr equency (VARF) pin of the I/O strobe conne ctor. This command has n o effect on the operation of the GPSCard; it is onl[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 103 FRESET This command clears all data which is stored in non-volati le memory. Such data includes the alm anac, satellite channel configuration, an d any u ser-specific config uration s. The GPSCard is forced to reset and will start up with factory[...]

C Com mands Su mmary 104 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 HELP This command provides you wit h on-lin e help. The command, with no options , gives a complete list of t he valid system commands. For detailed help on any command , append the optional command name to the HELP command. Synt ax: OR: Examp[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 105 IONOMODEL This command allows the user to dictate what ionospheric corrections the card uses. This command currently does not effect the ionosph eric model that is used when the card is operating in RTK m ode. Additional range val ues are res e r[...]

C Com mands Su mmary 106 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 LOC KOUT This command will prevent the GPSCard from using a satellite by de-weight ing its range in the solution computations. Note that the LOCKOUT command does not prevent the GPSCard from tracking an undesirable satellite. This command must[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 107 LOG Many diff erent t ypes of data can be logg ed us i ng s ever al d ifferen t meth ods of t rig geri ng the lo g even t s. Every l og element can be directed to either the CO M1 or COM2 ports. If a selected log element is to be dir ected to all[...]

C Com mands Su mmary 108 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MAGV AR The GPSCard computes d irections ref e renced to True North. Use this comman d ( magn etic variation cor rection) if you intend to navigate in agreement with magnetic compass bearings. The cor rection value entered here will cause the [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 109 Figure C-3 Illustra tion of Magnetic Variation & C orrection Reference Des cription a T rue Bearin g b Loc al Magne tic V ariati on c Local Ma gnetic V a riation Correction ( inverse o f magneti c variation) a + c Magnet ic Bearin g d H eadin[...]

C Com mands Su mmary 110 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MESSAGES The MESSAGES command is used to disable the por t prompt and error messag e reporting from a specified po rt. This feature can b e useful if the p ort is conn ected to a modem or o ther device that resp onds with d ata the GPSCard doe[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 111 POSA VE This command implements position averaging for ref erence stations. Position averagin g will continue for a specified number of hours or u ntil the averaged pos ition is within specified accuracy limits. Averaging will stop when the time [...]

C Com mands Su mmary 112 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RESET This comman d performs a hardware re set. Following a RESET command, the G PSCard will initiate a cold- start bootup. Therefor e, the receiver configuration will revert to the factory default if no user configuration was saved or the las[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 113 RESE THEA L TH This command cancels the SETHEALTH command and rest ores the health of a satellite to the broad cast value contained in the alm anac and ephemeris data. Syntax : Exampl e: resethealth 4 RESETH EAL THALL This command res ets the hea[...]

C Com mands Su mmary 114 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RIN EX The Receiver-Independent Exch ange format (RINEX) is a broadly-accepted, receiver-indepen dent format for storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data generated by r eceiv[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 115 R TCM16T This is a NovAtel command relating to the RTCM Standard ASC II messag e that can be sent out in RTCM Ty pe 16 format. Once created, the RTCM16T messag e can be viewed in the RCCA comman d settings list. The text message can also be logge[...]

C Com mands Su mmary 116 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTCMRULE This command allows the user flexibility in the usage of the RTCM Standard "bit rule". See Chapter 4 , for f urther i nformation.[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 117 RTK M O DE This com mand s ets up t he RTK ( RT-2 o r RT-20) mode. Invoki ng this command al lows you to s et di fferent parameters and co ntrol the operation of the RTK sys tem. The RTKMODE command is actually a family of commands; a descri ptio[...]

C Com mands Su mmary 118 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Below is additional information for each argument: Command Argument Default Argument Data Range RTKM ODE default default enable or d isable enable reset auto , static or kinematic auto fixed or flo at fixed unknown_ba seline, unknown_basel ine[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 119 Station Com mand Argument Data Remote rtkmod e unknown_basel ine (default) known_llh_pos ition lat,lon,height,[2 σ ],[m/e] known_ecef _baseline ∆ x, ∆ y, ∆ z,[2 σ ] RTKMODE UNKNOWN_BASELINE prevents the RTK system from using any baseline [...]

C Com mands Su mmary 120 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Station Co mmand Argu ment Remo te rtkmode auto (default) static kinematic RTKMODE AUTO configures the RTK system to automatically detect motion. It is the default mode. It will reliably detect motion of 2.5 cm/sec or greater. If you are under[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 121 SA VEALMA This command saves the latest almanac in non-volatile memory. The option ONNEW is the default; if a different setting is used, a SAVECO NFIG command must be issued or else ONNEW will resume after a reset. Bit 21 in th e receiver self-te[...]

C Com mands Su mmary 122 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SA V ECONFIG This command s aves the user ’ s present configuration in non-vo latile m e m ory . WARNING!: Do not use the SAVECONFIG command when communicating with the GPSCard through GPSolution . Synt ax: SAVECONFIG[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 123 SEND This command is used to send ASCII printable data from the COM1 or COM2 or disk file to a specified communications port. This is a one-time command, therefo re the data message must be preceded by the SEND command follo wed by the <Enter&[...]

C Com mands Su mmary 124 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SENDHEX This command is like the SEND command but is us ed to send non-printa ble characters expressed as hex adecimal pairs. Synt ax: SENDHEX to-port data Syntax Range Value Description SENDHEX Command to-port CO M1, COM2 Port option data •[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 125 SETDGPSID This command is used to enter a station ID. Once set, the receiver will only accept differential corrections from a station whose ID matches the set station ID. It is typi cally used when a station h as data links contain ing R TCM or R[...]

C Com mands Su mmary 126 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETHEAL TH This command permits you the flexibility to override the broadcast health of a satellite. Under certain condition s and applications, it ma y be desi rable to track and use inform ation from a GP S satel lite even though its health [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 127 SETL1 OFFSET The characteristic signal delays introduced by the antenna, coaxial cable an d GPSCard RF section will vary from one system configuration to another. These delays are meas urable using external test equipment. For ap plications which[...]

C Com mands Su mmary 128 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETNA V This command perm its entry of one set of navigatio n waypoints ( see Figure C-5 ). The or igin (FROM) and destination (TO) waypoint coordinates entered are considered on the ellipsoidal surface of the current d atum (default WGS 84 ).[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 129 Figure C-5 I llustrati on of SETNAV Parameter s Refe rence De scripti on 1T O , l a t - l o n 2 X-Track p erpendicul ar refere nce point 3 Current GP S posit ion 4 A-Track p erpendicul ar refere nce point 5 X-Track (cross-t rack) 6 A-Track (along[...]

C Com mands Su mmary 130 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETTIMESYNC This command enables or disables time synchroni zation, which permits two GPS Cards in a master/slave relationshi p to be syn chronized t o a common ex ternal clock for range com parisons. B y default, t his functi on is disabled. [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 131 UNASSIGN This command cancels a prev iously is sued ASSIGN command and the SV ch ann el rev erts to au tomatic contro l. If a SV channel has reached stat e 4 (PLL), the satellite being tracked will n ot be dropped when the UNASSIGN command is iss[...]

C Com mands Su mmary 132 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UNDULA TION This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations . The sepa ration values o nly refer t o the separat ion between the WG S 84 ellipsoid and the geoid, reg[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 133 UNFIX This command rem oves all pos ition const raints invok ed with any of the FIX commands (FI X POSITION, FIX HEIGHT, or FIX VELOCITY). Syntax : UNFIX UNLOCKOUT This command allows a satellite which has been previ ously locked out (LOCKOUT com[...]

C Com mands Su mmary 134 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UNL OG This command p ermits you to re move a specific log requ est from the sys tem. The [ port ] paramete r is optional. I f [ po rt ] is not specified, it is defau lted to the port that the command was received on. This feature eli minates [...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 135 USERDA TUM This command permits en try of cust omized ellipso idal dat um parameters. Us e this comman d in conjunctio n with the DATUM comma nd. The default set ting is WGS 84 . Syntax : Exampl e: userdatum 6378206.4,294.9786982,-12,147,192,0,0,[...]

C Com mands Su mmary 136 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 VERSION Use this command to determ ine the current software vers ion of the GPSCard. Th e response to the VERSION command is logged to the port from which th e comma nd origin ated . Synt ax: VERSION Exampl e: version OEM-3 MILLENRT2 CGL251448[...]

C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 137 W AAS CO RREC TI ON WAAS This command allows you to d ictate how the card handles WAAS correctio ns. The card will switch automatically to Pseudorange Diff erential (RTCM or RTCA) or RTK if the appropriate co rrections are being received, regard [...]

D Log s Summary 138 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 D LOGS SUMMARY LOG DESCRIP TIONS ALMA /B Deco de d A lma nac This log contains the decoded almanac p arameters from subframes four and five as received from the satellite with the parity information removed and appropriate scalin g applied. Multipl[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 139 Exampl e: $ALMA, 1 ,3.55577E-003,32768,745,-7.88 60E-009,-6.0052951E-002,-1.182425 4E+000, 1.67892137E+000,-1.8119E-005,-3.6379 E-012,1.45854965E-004,2.65602281E +007, 9.55576E-001,1,0,0*20[CR][LF] ... $ALMA, 31 ,4.90665E-003,32768,745,-8.0 460E-009[...]

D Log s Summary 140 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UTCA FORMAT Structur e: Exampl e: $UTCA,-2.235174179077148E-008,-1.24344978758 0175E-014,32768,745,755,9,10,5*3 7 [CR][LF] $UTCA pct p1ot data-ref wk#-utc wk#-lset delta-time lsop day #-lset *xx [CR][LF ] Field # Field type Data Description Exampl [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 141 ALMB ALMB FORMAT: Message ID = 18 Message byte count = 120 IONB FORMAT: Message ID = 16 Mess age byte count = 7 6 Field # Fiel d Type Bytes Format Units O ffset 1 Sync 3 0 (header) Chec ksum 1 3 Message ID 4 4 Message byt e count 4 8 2 Satellite PRN[...]

D Log s Summary 142 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UTCB FORMAT: Message I D = 17 Mes sage Byte C ount = 52 Field # Field Ty pe Bytes Form at Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 Polynomial constant term 8 double seconds 12 [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 143 BSLA/B Baseline Measurement RTK This log contains the most recent matched baseline repres enting the vector from the reference station receiver to the remote station receiver. It is expressed in ECEF coordinates with correspond ing un certainties al[...]

D Log s Summary 144 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 BSLB Form at: Message I D = 59 Message byte count = 100 T able D-1 GPSCard Solution Status Fie l d # Data Bytes Fo rma t Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 i nteger 4 Message byte coun t 4 integer 8 2 Week number 4[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 145 T able D-2 Position Ty pe T able D-3 RTK Status for Pos ition T ype 3 (R T -20) T able D-4 RTK Status for Position T ype 4 (RT -2) Typ e Definition 0 No po sition 1 Sing le poin t pos ition 2 Differentia l pseudorange posit ion 3 RT-20 positi on 4 R[...]

D Log s Summary 146 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CDSA/B Communication and Differ ential Decode Status The GPSCard maintai ns a running count of a vari ety of st atus in dicat or s of t he data link . Thi s log output s a report of those i ndicator s. Parity and f raming er rors will occur if poor[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 147 Exampl e: $CDSA,787,500227,0,0,0,0,0,0,9,0,0,0 ,0,0,0,9,0,0,0,0,0,0,0,0,0,0,0,0, 0*33[CR][LF] 25 dcsagood DCSA is now obsol ete. 0 26 dcsbfail DCSB is now obs olete. 0 27 dcsbgood DCSB is n ow obsolete. 0 28 cmrfail The number of CMR mes sages which[...]

D Log s Summary 148 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CDSB Format: Message ID = 39 Message byte count = 128 Field # Data Bytes Format Units O ffset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 inte ger 4 Message byte coun t 4 integer 8 2 Week number 4 int eger weeks 12 3 Time of week 4 inte[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 149 CLKA/B Receiver Clock Off set Data This record is used to monitor the state of the receiver time. Its value will depend on the CLOCKADJUST command. If CLOCKADJUST is enabled, then the offset and drift times will approach zero. If not enabled, then t[...]

D Log s Summary 150 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CLKB Format: Message ID = 02 Mes sage byte count = 68 Fie l d # Field Ty pe Bytes Form at Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 Week number 4 integer we eks 12 3 Seconds of [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 151 CLMA/B Receiver Clock Model The CLMA and CLMB logs contain the current clock-mo del matrices of the GPSCard. These logs can be both generated and received by a GPSCard. NOTE: Only advanced users should seek to alter t he clock model parameters of a [...]

D Log s Summary 152 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $CLMA,1010,142281.00,0,0,6.109902810E+008,6.109902810E+008,3.0048 51569E+000,-7.09478374E-002,1.072025038E- 001,9.018176231E+002,6.665159580E+000,- 8.93243326E+002,6.665159580E+000,6.071800102E-001,- 6.28582548E+000,-8.93243326E+002,- 6.2[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 153 CMR Standard Logs The Compact Measuremen t Record (CMR) Format, a standard communications pr otocol used in Real-Time Kinematic (RTK) s ystems to transf er GPS carrier phase and code obser vations from a r eference sta tion to one or more rover stat[...]

D Log s Summary 154 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 COM1A/B and COM2A/B Pass-Through Logs There are two p ass-thr ough log s COM1A / B and COM2A / B , available on MiLLennium GPSCards. The pass-thro ugh logg ing feature enab les the GPSCard t o redirect an y ASCII or binar y data that is input at a [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 155 DOP A/B Dilution of Precision The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and u sed in the position solution b y the G PSCard and updated once every 60 seconds or whenever[...]

D Log s Summary 156 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 DOPB Format: Message ID = 07 Mes sage byte cou nt = 68+(sats*4) Fie l d # Data Bytes Form at Units Offset 1 Sync 3 cha r 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 Week number 4 integer weeks 12 3 Seconds [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 157 ETSA/B Extended Tracking Status These logs pr ovide channe l tracking status infor mation for each of the GPSCard parallel channels. NOTE: This log is intended for status display only; sin ce some of the data elements are not synchr onized together,[...]

D Log s Summary 158 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Example (carriage returns have been added between observations fo r clarity): $ETSA,850,332087.00,0,24, 7,00082E04,-613.5,54.682,27.617,12301.4, 20257359.57,0, 7,00582E0B,-478.1,46.388,0.000,11892.0,2 0257351.96,13, 5,00082E14,3311.2,35.915,1.037,1[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 159 FRMA/B Framed Raw Navigation Data This message cont ains the raw framed navig ation data. An individual message is sent for each PRN being tracked. The message is up dated with each n ew frame , therefore it is best to log the data with the ‘ onne[...]

D Log s Summary 160 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GGAB Global Posi tion System Fix Dat a (Binary Format Only) Time, position and fix-related data of the GPS receiver. This binary log is a replica of the NMEA GPGGA ASCII log express ed in binary format wi th NovAtel h eader added. Format: Message I[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 161 GP ALM Almanac Data This log output s raw almanac data for each satellite PRN con tained in the b road cast message. A separate recor d is logged for each PRN, up to a maximum of 32 records. Following a GPSCard reboot, no records will be output unti[...]

D Log s Summary 162 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGGA Global Position System Fix Data Time, position and fix-related data of the GPS receiver. The information con tained in this log is also available in the NovAtel GGAB lo g in binary format. This log will outpu t all null data fields until the [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 163 GPGLL Geograph ic Posit ion Latitude and longit ude of present vessel positi on, time of position fix, and status. This log will output all null data fields until the GPSCard has set fine time as monitored by the receiver s tatus word, see Table D-5[...]

D Log s Summary 164 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGRS GPS Range Residu als for Each Sa tellite Range resid uals can be computed in two ways, and this l og reports th ose residual s. Under mode 0, residuals ou tput in this log are used to update the position so lution output in the GPGGA message.[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 165 GPGSA GPS DOP and Active Satell ites GPS receiver operating mode, satellites used for navigati on and DOP values. Structure: Exampl e: $GPGSA,M,3,18,03,13,25,16,24,12,20,, ,,,1.5,0.9,1.2*3F[CR][LF] $GPGSA mode MA mode 123 prn prn prn prn prn prn prn[...]

D Log s Summary 166 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGST Pseudorange Measurement Noise Statistics Pseudorange measurement noise statistics are trans lated in the pos ition domain in ord er to give statistical meas ures of the quality of the position solution. Structure: Exampl e: $GPGST,192911.0,28[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 167 GPGS V G PS S atellit es in V iew Number of SVs in view, PRN numbers, elevation, azimut h and SNR value. Four satellites maximum per message. When required , additional satellite d ata sent in second or third message. To tal number of me ssages bein[...]

D Log s Summary 168 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPRMB Navigation Informatio n Navigation data from present position to a destination waypoint. The destination is set active by the GPSC ard SETNAV command. If SETNAV has been set, a command to log either GPRMB or GPRMC will cause both logs to outp[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 169 GPRMC GPS Specific Information Time, date, position , track made good and speed data prov ided by the GPS navigation receiver. RMC and RMB are the recommended minimum navigation data to be provided by a GPS receiver. This log will output all null da[...]

D Log s Summary 170 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPVTG T rack Made Good And Grou nd Speed The track made goo d and speed relative to the groun d. Structure: Exampl e: $GPVTG,24.168,T,24.168,M,0.4220347,N,0.781608,K *7A[CR][LF] $GPVTG track true T track mag M speed Km N speed km K *xx [CR][LF] Fie[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 171 GPZDA UTC Time and Date This log will output all null data fields until the GPSCard has set fine time as monitored by the receiver status word, see Table D-5 Receiver Self-Test Status Codes on Page 198, bits 8,9 and 1 0. ) Structure: Exampl e: $GPZD[...]

D Log s Summary 172 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPZTG UTC & T ime to Destination Waypoint This log reports time to destination waypoint. Waypoint is set using the GPSCard SETNAV command. If destination way point has not been s et with SETNAV, time-to- go and destination wayp oint ID will b e[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 173 MKP A/B Mark Position This log co ntains the est imated positio n of the antenn a at detected mark impul se. It use s the last valid posi tion and velocities to extrapol ate the position at time o f mark. Refer to the GPSCard Insta llat ion and Oper[...]

D Log s Summary 174 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MKT A/B Time of Mark Input This log contains the time of the detected Mark Input pu lse leading edge as detected at the Mark Inpu t I/O port. The resolutio n of this m easurement is 4 9ns. Refer to the GPSCard Insta llatio n and Opera ting Manu al [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 175 NA V A/B W aypoint Navigation Data This l og repo rts the s tatus of your waypoint navigat ion pr ogress. I t is used in con junction with the SETNAV command. REMEMBER: The SETNAV command must be enabled before valid data will be reported from this [...]

D Log s Summary 176 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 NA VB Format: Message ID = 08 Mes sage byte count = 76 Fie l d # Data Bytes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 Week number 4 integer weeks 12 3 Seconds of week 8 d[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 177 Figure D-1 Example of Navigat ion Paramete rs A = FROM lat-lon B = TO lat-lon AB = Great circle line drawn between FROM A lat- lon an d TO B lat-lon AC = Track off set from A to C BD = Track off set from B to D CD = Offset track to steer (parallel t[...]

D Log s Summary 178 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 P A V A/B Position Averaging Status These logs are meant to be u sed in conjunction with the POSAVE command. If the POSAVE command h as not been issued, all fields in the PAVA/B logs except week and seconds will be zero. How ever, when position ave[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 179 PAV B Format: Message ID = 50 Message byte count = 80 Field # Data Bytes Format Units Offset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 integer 4 Message byt e count 4 integer 8 2 GPS week number 4 integer weeks 12 3 GPS seconds into t[...]

D Log s Summary 180 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 POSA/B Computed Positi on This log w ill contain the last valid posit ion and time calculated referenced to th e GPSAntenna phase cen tre. The position i s in geog raphic coor dinates in degrees ba sed on your specified dat um (default is WGS 84 ).[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 181 PRTKA/B Comp uted Position RTK This log contains the best available position computed by th e receiver, along with three status flags. In addition, it repor ts other status indi cators, including d ifferential age, whic h is useful in predicti ng an[...]

D Log s Summary 182 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $PRTKA,872,174963.00,1.0 00,8,7,7, 51.11358042429, -114.04358006710,1059.4105,-16.2617,61, 0.0096,0.0100,0.0112,0,0,4,42,119*51[CR][LF] PR TKB Form at: Message ID = 63 Message byte coun t = 124 Fie l d # Dat a Bytes Format Un its Offse t [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 183 PV AA/B XYZ Position, V elocity and Acceleration The PVAA/B logs contain th e receiv er ’ s latest computed position, velocity and acceleration in ECEF coordinates. The position, velocity and acceleration status fields indicate whether or not the [...]

D Log s Summary 184 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 PV AB Format: Message ID = 49 Mes sage byte count = 108 Fie l d # Field Type Byte s Format Un its Offset 1S y n c 3 c h a r 0 (header) Ch ecksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 GPS week number 4 integer weeks 12 3 [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 185 PXY A /B Com puted Cartesian Coor dinate Position This log contains the last valid po sition, expressed in Cartesian x- y-z space coordinates, relative to the center of the Earth. The positions expressed in this log are always relative to WGS 84 , r[...]

D Log s Summary 186 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 PXYB Format: Message ID = 26 Mes sage byte count = 88 1 This log provides dif ferential fix and age status. Field # Data Bytes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 W[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 187 Figure D-2 The WGS84 ECEF Coordinate System[...]

D Log s Summary 188 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RALA /B Raw Al man ac Almanac and h ealth data are contained in subframes four and five of the s atellite broadcast message. Su bframe four contains info rmation for SVs 25- 32, as well as i onospheric, U TC and SV con figurat ion data. Subfram e f[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 189 RASA/B R a w Almanac Set This is a single log for the entire Almanac data set. Only a complete log will be set so you do not have to worry about ephemer is data imitating an Almanac. RASA Exampl e: $RASA,926,246000,926,319488,1,30,4,2,8B0E784FDA3159[...]

D Log s Summary 190 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RASB Format: Message ID = 66 Message byte count = 40 + (n * 32 ) Note: V ariable Length = 40 + (n * 32). Maxim um = 40 + (50 * 32) = 1640. T ypical size (31 subframes ) = 1032 bytes. Field # Data Bytes Form at Unit s Offset 1 Sync 3 cha r 0 Checksu[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 191 RBT A/B Satellite Broadcast Data: Raw Bits This message contains the s atellite broadcast data in raw bits bef ore FEC (forward error correction) decoding or any other processing. An individual message is sent for each PRN being tracked. For a given[...]

D Log s Summary 192 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RCCA Receiver Configuration This log outputs a list of all curren t GPSCard command setti ngs. Observing this log is a g ood way to m onito r the GPSCard confi guration settings. S ee Chapt er 2, Pa ge 25 for the RCCA default list.[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 193 RCSA/B Receiver Status The RCSA log will always ou tput four records: one for VERSION, one for receiver CHANNELS, one for receiver CPU IDLE time, and one indicating receiver self-test STATUS. Howev er, RCSB will embed the s ame information in a sing[...]

D Log s Summary 194 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 REP A/B Raw Ephemeris REP A This log contains the raw Binary inf o rmation for subframes one , two and three from the satellite with the parity information remo ved. Eac h subfram e is 240 bits lon g (10 wo rds - 24 bits each) an d the log c ontain[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 195 RGEA/B/ D Channel Range Measurements RGEA/B/D contain the channel range measurements for the currently observed satellites. The RGED mess age is a compressed form of the RGEB message. When us ing these logs, pleas e keep in mind the constraints note[...]

D Log s Summary 196 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RGEA Structure: 1 This outpu t will al ways be a hexadecim al repres entation w hich must be conver ted to bina ry format. In this exa mple, the conversi on give s 00000000 00001011001000001 1 1 1 1 1 1 1 in bin ary for mat, see Appe ndix H , Page [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 197 RGEB Format: Message ID = 32 Message byte count = 32 + (obs x 44) RGED Format: Message ID = 65 Message byte count =24 + (20 x number o f obs) Field # Da ta Bytes Forma t Units Offset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 integer 4[...]

D Log s Summary 198 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 T able D-5 R eceiver Se lf-T est Statu s Codes N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni bbl e Num ber 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210 Bi t De s c r i p t i o n Range Val ues He x V a l u e ls b = 0 ANTENNA 1 = [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 199 Notes on Table D-5 : 1. Bi t 3: O n OEM GPSCards, “ ROM ” includes all forms of non-volatil e memory. 2. Bi ts 12- 15: Flag is reset to 0 five minut es after the last overrun/overl oad condi tion has occurred. GPSCard example: All OK = 0000 0000[...]

D Log s Summary 200 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 1 If set to 1, the receiver has detected a high power signal causing interference. When this happens, the receiver goes into a special anti-jamming mo de where it re-maps the A/D decode values as well as special L1AGC feedback control. These adjust[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 201 Bit 20 OCXOPLL 1 When an external oscillat or is co nnected and th e OCXOPLL bit passes self-test, the bit will be se t to 1. 0 If no external oscillator is detected or a fault is detect ed in the OCXOPLL b it, this bit is set to 0. Bit 21 Sa ved Al[...]

D Log s Summary 202 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 4 ADR (Accumulated Doppler Rang e) is calculated as follows: ADR_ROLLS = ( -RGED_PSR / WAVELENGTH - RGED_ADR) / MAX_VALUE Round to t he closest in teger IF (ADR_ROLLS ≤ -0. 5) ADR_ ROLL S = ADR_ ROLLS - 0.5 ELSE ADR_ ROLLS = ADR_ ROLLS + 0.5 At t[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 203 T able D-7 Channel Tracking St atus Table D-7 is referen ced by the ETSA/B , FRMA/B, RGEA/B/D and WRCA/B logs. Table D -7, Bit s 0 - 3: C hanne l Tracki ng St ate Table D -7, Bi t s 12- 14 : Corr elat or Spaci ng Sta te Description State Descrip tio[...]

D Log s Summary 204 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RINEX Receiver-Independent Exchange Format The Receiver-Independent Exch ange (RINEX) format is a broadly-accepted, receiver-indepen dent format for storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or pr[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 205 RPSA/B Reference Station Po sition and Health This log contains the ECEF XYZ position of the reference statio n as received through the RTCA Ty pe 7 or RTCM Type 3 message. It also features a time tag, the health status of the reference station, and[...]

D Log s Summary 206 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTCA Standard Logs The RTCA (R adio Techni cal Com mission for Aviat ion Servi ces) Stand ard is being desi gned to support Differential Global Navig ation Satellite System (DGN SS) Special Category I (S CAT-I) precision instrument approaches. The [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 207 RTKA/B Computed Position - Time Matched RTK This log repres ents positio ns that have been comput ed from time matched reference and remot e observatio ns. There is no ref erence station extrapolation error on these po sitions but becaus e they are [...]

D Log s Summary 208 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTK B Form at: Message I D = 61 Message byte count = 11 6 Field # Data By tes Format Units O ffset 1 Sync 3 cha r 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 in teger 8 2 Week number 4 integer we eks 12 3 GPS time into[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 209 RT KOA/B RTK Solution Parameters RTK This is the “ RTK output ” log, and it co ntains miscellaneous in formation regardin g the RTK solu tion. It is based o n the matched update. Note that the length of the log messages will vary depending on th[...]

D Log s Summary 210 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $RTKOA,929,237639.00,1,8,8,8,8,0,4,1,0.00000613 6,0.000003797, -0.000006287,0.000003797,0.000013211,-0.0000070 43,-0.000006287, -0.000007043,0.000018575,3.2209,-3.0537, -1.2024,0.0183,0.0138,0.0124,0,0.0000,1,7, 21 ,6,-0.001199, 23 ,6,0.0[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 211 T able D-8 Ambiguity T ypes T able D-9 S earcher Status T able D-10 RTK Status Ambiguity Typ e Definition 0 L1 only floating 1 Wide lane fixed integer 2 Reserved 3 Narrow lane floating 4 Iono – free floating 5 Reserved 6 Narrow lane fixed integer [...]

D Log s Summary 212 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RVSA /B Rec e iv e r Sta tus This log conveys various status parameters of the receiver system. If the system is a multiple-GPSCard unit with a master card, certain parameters are rep eated for each individual GPSCard. If the system is composed o f[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 213 RVSB Format: Message ID = 56 Message byte count = 28 + (8 x number o f cards) NOTE: For F ield 9, sel f-test b its 2, 3 , 4, 6, & 7 are set only once (when t he GPSCard is first po wered up). All other bits are set by internal test processes eac[...]

D Log s Summary 214 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SA T A/B Satellite Speci fic Data This log pr ovides satellite specif ic data for satellites actually being tracked. The record length i s variable and depends on the numb er of satellites . Each satellite being tr acked has a reject code indicatin[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 215 SA TB Format: Message ID =12 Message byte count = 32 + (obs*3 2) T able D-1 1 GPSCard Range Reject Codes Field # Data Bytes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week n[...]

D Log s Summary 216 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SBT A/B Satellite Broadcast Data: Raw Symbols This message contains the satellite b roadcast data in raw symbols before FEC decoding or any other processing. An individual message is sent for each PRN being tracked. For a given satellite, the messa[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 217 SPHA/B Speed and Direction Over Gr ound This log provides the actual speed and d irection of motion of the GPSCard antenna over ground, at the time of measurement , and is updated u p to 10 ti mes per seco nd. It shou ld be not ed that t he GPSCard [...]

D Log s Summary 218 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections When combined with a RGEA /B/D log, this data set contains all of the decoded s atellite information necessary to compute the solution: satellite coordinates (ECEF WGS 84 ), satellite cloc[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 219 SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68 ) Field # Data By tes Format Uni ts Offset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 integer 4 Message byt e count 4 intege r 8 2 Week nu m be r 4 integer weeks 12 3 Ti me [...]

D Log s Summary 220 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 TM1A / B T im e of 1P P S This log provides th e time of the GPSCard 1PPS, normally high, active low pulse ( 1 millisecond), where falling edge is r eference , in GPS week n umber an d second s into the week. The TM1 A/B log follows a 1 PPS pulse. [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 221 VERA/B Receiver Hardware and Software V ersion Numbers This log contains the current hard ware type and software version number for the GPSCard. Togeth er with the RVSA/B log, it su persedes the RCSA/ B lo g. VERA Structure: Exampl e: $VERA,853,4013[...]

D Log s Summary 222 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 VLHA/B V elocity , L atency , and Direction O ver Ground This log is similar to the SPHA/B message. As in the SPHA/B messages the act ual speed and direction of the GPSCard antenna over ground is provided. T he VLHA/B dif fers in th at it prov ides[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 223 VLH B Format: Message ID = 34 Message byte count = 72 T able D-12 GPS Card V elocity Sta tus Field # Data Bytes Format Units O ffset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 integer 4 Message byt e count 4 integer 8 2 Week nu m be r [...]

D Log s Summary 224 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 W ALA/B W AAS Almanac WAAS Structure: *Exampl e: $WALA,981,447490.88,981,447360,122,0,0,2.578940 00E+007,-3.5479600E+007, 2.60000000E+004,0.00000000E+000,0.00000000E+000 ,0.00000000E+000*32 [CR][LF] $WALA week seconds WAAS week WAAS seconds prn dat[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 225 WA L B Format: Messa ge ID = 81 Message byte count = 92 T able D-13 Health and Status Bits *Note: Read the binary output f rom the Health field from ri ght to left. The f irst bit to the right , the least significant bit, is bit 0 and so on to the l[...]

D Log s Summary 226 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WEP A/B W AAS E phemeris WAAS The WEPA/B lo gs contain the WAAS satell ite ’ s latest computed position, velocity and acceleration in ECEF coordinate s. See Figure D -2 The WGS84 ECEF Coordi nate System on Page 187 for a pictorial representation [...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 227 WEPB Format: Message ID = 80 Message byte count = 128 Field # Fi eld Type Bytes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byt e count 4 integer 8 2 GPS week number 4 ulong weeks 12 3 GPS time of we[...]

D Log s Summary 228 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WRCA/B Wide Band Range Cor rection (Grouped Format) This message contains the wide band range co rrection d ata. A correction is generated fo r each PRN being track ed and these group together into a single log. Internally, th e correction for each[...]

D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 229 WUTCA/ B UTC T ime Paramet ers WAAS This lo g outputs UTC tim e parameters and two G LONASS speci fic fields. WUTCA Struc ture: Exampl e: $ WUTCA,35,417865.00,-2.235174179077148E-008,-1.243449787580175E-014, 32768,745,755,9,10,5,2,0,0*24 [CR][LF] $W[...]

D Log s Summary 230 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WUTC B Message ID = 82 Message byte count = 82 T able D-15 UTC Standard Ide ntifier Field # Field Type Bytes Form at Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 GPS week number 4 [...]

E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 231 E COMPARISON OF RT -2 A ND RT -20 E.1 RT-2 & RT-20 PERFORMANCE RT-2 and RT-20 are real-time kin ematic softwar e products developed b y NovAtel. They can on ly be used in conjunction with No vAtel GPS receivers. A quick com pari[...]

E Compa rison Of R T-2 And RT-20 232 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RT -2 Perfor mance The RT-2 software provides the accuracies s how n in Tab le E-3 & Figure E-1 (static mode) and Table E-4 & Figure E-2 (kinematic mode) for “ typical ” multipath, ionos ph eri c, tr opo sp heri c, and [...]

E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 233 Figure E -1 Typical RT- 2 Horizontal Convergen ce - Static M ode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode 0 0. 2 0. 4 0. 6 0. 8 1 1. 2 1. 4 0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 Se conds of C o[...]

E Compa rison Of R T-2 And RT-20 234 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 For baselines u nder 30 km long, the RT-2 solution shows two p ronounced s teps in accuracy convergence; thes e correspond to th e single-point solution switching to the floating amb iguity solutio n which in turn switches to the n[...]

E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 235 T able E-6 RT - 20 Performance Figure E -5 Typical RT -20 Conver gence - Stat ic Mode Tracking Time (sec) Mode 1 Data Del ay (sec ) Distance (km ) Accuracy (CEP) 1 - 180 Static 0 1 100 to 25 cm 180 - 3000 Static 0 1 25 to 5 cm > [...]

E Compa rison Of R T-2 And RT-20 236 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Figure E -6 T ypical RT-20 Convergence - Kinematic Mode Figure E-7 shows th e performance of the RT- 20 system running with RTCM59 corrections received at a 1/2 Hz rate. Figure E-7 RT-20 Steady State Performance 0 0. 2 0. 4 0. 6 0.[...]

E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 237 E.2 PERFORMAN CE CONSIDERATION S When referr ing to t he “ performance ” of RTK software, two factors are introd uced: 1. Baseline length : the position es timate becomes less precise as the baseline length in creases. Note that[...]

E Compa rison Of R T-2 And RT-20 238 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 DIFFERENTIAL LINK BREAKDOWN 1. Provid ed the syst em is in s teady state , and the loss of observation data is for less than 30 seconds , the RTK positions will degrade according to the divergence of the ref erence observation extr[...]

F Standa rds and R eference s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 239 F S TANDARDS AND REFERENCES RTCM STANDARDS REFERE NCE For detailed specificatio ns of RT CM , re fe r to RT C M SC 10 4 Vers i on 2. 1 of " R TC M Re co m me nd ed St and ar ds Fo r Differential NAVSTAR GPS Service", January [...]

G Geodet ic Datums 240 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 G GEODET IC DATUMS The following tables cont ain the internal ellipsoid parameters and transform ation parameters used in the GPSCard. The values cont ained in t hese tab les were deri ved from t he followi ng DMA techni cal repor ts: 1. TR 8350[...]

G Geodeti c Datums MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 241 17 GRB36 37 5 -111 431 G reat Br itain 1936 (Ordinanc e Survey) Airy 18 30 18 GUAM -100 -2 48 259 Guam 1963 (Gu am Isl and) Cla rke 186 6 19 HAWAII 89 -2 79 -183 Hawa iian Hawa ii (Old) Internation al 192 4 20 KAUAI 45 -290 -172 Hawa iian Kauai ([...]

H Some C ommon U nit Convers ions 242 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 H SOME COMMON UNIT CONVERSIONS Section H.1 to H.4 list comm only us ed equivalent s between the SI (Sy st è me Internationale) units of weights and measures used in the metric system, and th ose used in the imperial system. A com[...]

H Some Co mmon Unit C onversion s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 243 H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE) 511200 seconds Day 5112 00 / 86400 seconds per day = 5 .916666667 days Hour .916666667 x 86 400 / 36 00 secon ds per hou r = 22 .0000 hours Minute .000 x 3600 / 60 seconds p er minut e[...]

I Inform ation Mes s ages 244 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 I INFORMATION MESSAGES TYPE 1 INFOR MATION MESSAGE S To date, the only Type 1 messages are the ! ERRA and the !MSGA logs. !ERRA Exampl e: !ERRA,1,0,Authorization Code Invalid,*22[CR][LF ] Ta b l e I -1 Type 1 !ERRA T yp es !MSGA Exampl e:[...]

I Inf ormation Messages MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 245 Ta b l e I -2 Ty p e 1 ! M S G A Ty p e s TYPE 2 INFORMAT ION MESSAGES The following is a list of informatio n messages which are g en erated by the Comman d Interpreter in response to a user ’ s inpu t . This list is no t necessarily comp[...]

I Inform ation Mes s ages 246 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Invalid Cha nnel Number An inval id channel number has bee n entered in a command such as ASSIGN. Invalid Coa rse Modulus Field The coarsemod ar gument of the FREQUENCY_OUT co mmand is invalid. Invalid Com mand CRC The received comma nd h[...]

I Inf ormation Messages MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 247 Invalid Parity Option The parity in a COMn command is i nvalid. Invalid Port The port in a SEND com mand is invalid . Invalid Port num ber The p ort number in an ACC EPT command is inv alid. Invalid PPS Modulus Field The ppsmod ar gument of [...]

J Listi ng Of Tabl es 248 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 J LISTING OF T ABLES This section is provided for ease of r eference. The tab les reproduced are a s follows: 1-1 GPSCard Pseudorange Differential In itialization Summary 1-2 Latency - Ind uced Extrapolatio n Error 2-1 Commands Table 2-2 GPSC[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 249 Table 1- 1 GPSCar d Pseudoran ge Differ ential Initi alization Sum mary Table 1-2 Latency-Induced Extrapolation Er r or Reference Station Remote Station Requ ired : FIX PO SIT ION lat lon hgt id (health) LOG p ort DATA TYPE ontime 5 Recomm end[...]

J Listi ng Of Tabl es 250 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 2-1 Commands By Function Table 1 Intended for advanced users of GPS only . COMMUNICATIONS, CONTROL AND STATUS Commands Descr iptions ANTEN NAPO WE R Power to the low- n oi se ampli fie r of an activ e ant enna COMn C OMn port conf igura[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 251 SATELLITE TRACKING AND CHANNEL CONTROL Commands Descripti ons $ALMA Download almanac data fi le ASSIGN Sate llite c hanne l assi g n ment CONFIG Switch es th e chann el co nfig ur ation of the GPSCa rd DYNAMICS Sets co rrelato r tr ackin g ban[...]

J Listi ng Of Tabl es 252 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 2-2 GPSCard Command Summary Comma nd Des cri pt ion Sy ntax $ALMA Injects almanac (follows N ovAtel AS CII log for mat) $IONA Injects ionospheric refr action cor rect ion s (follows N ovAtel AS CII log for mat) $PVAA Injects latest co m[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 253 RINEX Con figure the user define d field s in the file headers rinex cfg typ e RTCM16T E nter an ASCII tex t mess age to b e sent ou t in the RTCM da ta stream rtcm16 t ascii messag e RTCMRUL E Set vari ations of t he RTCM b it rule rtcmr ule [...]

J Listi ng Of Tabl es 254 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 3-1 Logs B y Function Table COMMUNICATIONS, CONTROL AND STATUS Logs Descriptions CDSA/ B C O M por t commu ni cati ons s tat us COM1A/ B Log da ta from COM 1 COM2A/ B Log da ta from COM 2 COMnA/B Pass- through data logs RCSA/B Receiver [...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 255 WAYPOINT NAVIGATIO N Logs Descriptions GPR MB NMEA, waypoint stat us GPR MC NMEA, n avigation i nformat ion GPVT G NMEA, track made go od a nd speed GPZ TG NMEA, time to dest in at ion MKPA /B Position at time of mark inp ut NAVA/B Navi gat io[...]

J Listi ng Of Tabl es 256 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CLOCK INFORMATION, STATUS, AND TIME Logs Descripti ons CLKA/ B Rece iver c lock o ffs et inf ormati on CLMA/ B 1 Current cloc k-model ma trice s of th e G PSC ard GPZDA NMEA, UTC time and dat e GPZTG NMEA , UT C an d time to wayp o in t MKTA/[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 257 Table 3-2 GPSCard Log Summa ry Not e A/B/ D: A refers to GPSC ard output logs in ASCII format. B refers to GPSCard output logs in Binary format. D refers to GPSCar d output logs in com pressed binary form at. Table 4-1 P ositioning Modes Synta[...]

J Listi ng Of Tabl es 258 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table C-1 A ntenna LNA Power Configur ation Table C-2 De fault Values of Process Nois e Elements Table C-3 VARF Range (Software Version 4.42 or higher) Table D-1 GPSCard Solution Status P301: plug connec ts pins 1&2 P301: plug c onnects p[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 259 Table D-2 Position Type Table D-3 RTK Status for Position Type 3 (RT-20) Table D-4 RTK Status for Position Type 4 (RT-2) Typ e Definition 0 No po sition 1 Sing le poin t pos ition 2 Differentia l pseudorange posit ion 3 RT-20 positi on 4 RT-2 [...]

J Listi ng Of Tabl es 260 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table D- 5 R eceiver Se lf-Test St atus Code s N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni bbl e Num ber 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210 Bi t De s c r i p t i o n Range Val ues He x V a l u e ls b = 0 ANTENN[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 261 Notes on Table D-5: 1. Bi t 3: O n OEM GPSCards, “ ROM ” includes all forms of non-volatil e memory. 2. Bi ts 12- 15: Flag is reset to 0 five minut es after the last overrun/overl oad condi tion has occurred. Table D-6 Ran ge Record Format[...]

J Listi ng Of Tabl es 262 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 5 6 Only bits 0 - 23 are represented in th e RGED lo g Table D-7 Channel Tracking Status * Grouped: A channel has an associated channel (L1/L2 pairs in MiLLennium and L1/L1 pairs in Beeline ) Cod e RGED 0 0.000 to 0.050 1 0.051 to 0.075 2 0.0[...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 263 Table D-7 is referenced by the ETSA/B, and RGEA/B /D logs. Table D -7, Bit s 0 - 3: C hanne l Tracki ng St ate Table D-7, Bits 12-14: Correlator Spacing Table D-8 Ambiguity Types Table D-9 Searcher Status State Descr iption State Des cription [...]

J Listi ng Of Tabl es 264 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table D-10 RTK Status Table D-11 GPSCard Ra nge Reject Codes Table D- 12 GPSC ard Veloci ty Status RTK Status Definition 1 Good narrow lane solut ion 2 Good widela ne solu tion 4 Good L1/L2 con ver ged float solu tion 8 Good L1/L2 unc onverg [...]

J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 265 Table E-1 Comparison of RT-2 and RT-20 . Table E-3 R T-2 Performance: Static Mode Table E-4 RT-2 Performance: Kinematic Mod e RT-2 RT-20 GPS Frequencies Utilized L1 & L2 L1 Nominal Ac curacy 2 cm (C EP) 20 cm (CE P) Lane Searching Wide lan[...]

J Listi ng Of Tabl es 266 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table E-5 R T-2 Degradation With Respect To Data Delay 1 Table E-6 RT-20 Performance Data Delay (sec) Dist ance (km) Accuracy (CEP) 0 - 2 1 +1 cm/sec 2 - 7 1 +2 cm/sec 7 - 30 1 +5 cm/sec > 30 1 pseudorang e or single point 3 Trackin g Time[...]

K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 267 K GPS Glossary of Terms ASCII A 7-b it wide serial cod e describing numbers, u pper and lower case characters, special and non- printing characters. Typically used fo r textual data. Acquisition The pr o cess of lock in g onto a satell ite [...]

K GPS G lossary of Terms 268 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Communi cation A method established for message tran sfer between a talker and a lis tener Protocol which includes the message format and the sequence in which the messages are to be transferred. Also includes the signalling requirements s[...]

K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 269 Diluti on of A numerical value expressing the conf idence factor of the p osition solution Precision (DOP) based on current satellite geom etry. The lower the value, the greater the confidence in the solution. DOP can be expressed in the fo[...]

K GPS G lossary of Terms 270 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Ambigui ty constant . Estimates Flash ROM Progr ammable r ead-only m emory. Floating A mbigu i ty Ambiguity estimates which are not held to a co nstant value, but ar e allowed Estimates to gr adually converge to the correct solution . Geom[...]

K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 271 L1 Frequency The 1575.4 2 MHz GPS carrier fr equency which con tains the cours e acquisiti on (C/A) code, as well as encrypted P-code, and navigation messages used by commercial GPS receivers. L2 Frequency The 1227. 60 MHz. secondary GPS ca[...]

K GPS G lossary of Terms 272 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Observat io n Set A s et of GPSCard measurements taken at a given time which includes one time for all measurements, and the following for each satellite tracked: PRN n umber, pseudorange or carrier phase or both, lock time coun t, signal [...]

K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 273 Root Mean Square A pro babilit y level of 68%. (RMS) Route A pl anned course of travel , usually composed of more than one naviga tion leg. RT-20 NovAtel ’ s Double Differen cing Technology for real-time k inematic (RTK) carrier p hase fl[...]

K GPS G lossary of Terms 274 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 True Bea ring Bearing relative to true north; comp ass bearing corrected for comp ass error. True Hea ding Heading relative to true north. Two-D imensional The number of hours -per-day w ith three or m ore satell ites visibl e. Three Cover[...]

L GPS Gl ossary of Ac ronyms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 275 L GPS GLOSSARY OF ACRONYMS 1PPS One Pulse Per Second 2D Two Dime nsio na l 3D Three D imensional A/D Analog-to- Digital ADR Accumulated Doppler Range AGC Automatic Gain Control AS Anti-S poofing ASCII American Standard Co de for In form[...]

L GPS G lossary of A cronyms 276 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 LHCP Left Hand Circular Polari zatio n LNA Low Nois e A mplifier LO Local Oscillator LSB Least si gnificant bit MET Multipath Elimination Technolog y MEDLL Multipath Estimation Delay Lock Loop MKI Mark Input MSAS MTSAT Satell ite Based[...]

Index 277 MiLLenni um GPSCa rd SW Version 4.503/4 .52 Command Descriptions Manual R ev 2 1PPS , 34, 85, 130, 220 2D , 99, 165, 269, 274 3D , 165, 269, 273 A acceleration , 31, 33, 183, 226 – 227 accept , 23, 81 – 82 accessories , 18 accumulated doppler , 56 accuracy differential positioning , 2 68 ephemeris , 269 selective availability , 273 ac[...]

Index 278 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 channels , 269, 272 – 273 L1/L2 , 212 num b er o f , 193, 212 phase lock , 196 range measu rements , 195 reacquis ition , 33 status , 84, 157, 193, 196, 203, 228 unass ign , 131 chatter , 32, 45 checksum , 25, 34, 193, 267, 269, 271 header , 47 log structur[...]

Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 279 accumulated , 56, 196, 202 freque ncy , 84 instantaneous , 196 jump , 199 offset , 84 velocity , 222 double differenci ng , 80, 273 E earth-centered ear th-fixed (ECEF) , 119, 143, 183, 205, 218, 226, 269 differential corrections data , 33 fix , 101 message fo r[...]

Index 280 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 H hardware reset , 112 HDOP, see dilution of p recision heading , 217, 222, 268, 270 health almanac , 138 log , 21 raw almanac , 188 reference stati on , 205, 238 reset , 113 satellite , 57, 60, 100, 131, 218 set , 126 station , 20 SV , 161 velocity , 222 hei[...]

Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 281 N Narrow Correlator tracking technolo gy , 68, 79 navigat ion 2D , 274 accuracy , 54 calculations , 128 data , 169 ephemeris , 269 fix velocity , 101 illustration , 177 information , 168 messag e , 57, 60 over view , 63 parameters , 175, 177 path , 128 progr ess[...]

Index 282 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 Q quick start , 13 R radio f requency ( RF) , 75, 78, 199, 267 RAM , 199 range corrections , 228 reject codes , 215 raw almanac , 161, 188 – 189 framed navigati o n data , 159 reacquisition , 33, 84, 101, 183 real-time carrier-phas e , 73 multipath , 70 pos[...]

Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 283 reference stati on , 49 reset , 90 RTK , 120, 234 system , 47, 206 tracking , 34 unlo ck , 133 segme nt (space, con trol and user) , 63 – 64 control , 267 – 268 segment (space, co ntrol and user) , 63 self-test , 13, 36, 196, 275 send ascii data , 123 non-pr[...]

Index 284 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 high dyna mi cs , 33 latency , 222 navigat ion , 175 over view , 63 quality , 222 satellite , 226 status , 183, 223 vers ion , 136, 221 W WAAS almanac , 224 – 225 commands , 31 concept , 30 corrections , 137 fram ed raw n avi ga tion data , 159 GPSCard , 31[...]

OM-200000 53 Rev 2 2001/0 1/16[...]