Novatel OM-20000041 manual

OM-20 000041 Rev 1 GPSCard  Products NovAtel Inc. OM-20000 041 R EV 1 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual[...]

2 MiLLenni um GP SCard S oftware V ersion 4.50 Com mand Des cription s Manu al Rev 1 MiLLennium Co mmand Descr iptions Manual Publication Number: OM-200000 41 Revision Level: 1 98/11/03 This manual reflect s Software V ersion 4.50 Proprietary Notice Information in this document is subject to chang e without n otice and does not rep resent a commitm[...]

Table of Con tents MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 3 T ABLE OF CONTENTS Software License 9 Software Support 10 Foreword 11 Congratul ations! . ....... ........... ....... ........... ....... ........... ........... ....... ........... ....... ........... ............... ........... ....... 11 Scope[...]

Table of C ontents 4 MiLLenn ium GPS Card Software V ersion 4.50 Co mmand D escrip tions Manual Rev 1 RTCM Gene ral Messag e Format ............... ........... ....... ........... ....... ........... ....... ........... ....... ...........48 RTCM S tandard Com mands .......... ....... ........... ....... ........... ........ .......... ........ ...[...]

Table of Con tents MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 5 RESET ........... ....... ........... ....... ........... ....... ........... ........... ........ .......... ........ ........... ....... .. ...... ...... .... 110 RESETHEALTH . ........... ....... ........... ....... ........... ........... ...[...]

Table of C ontents 6 MiLLenn ium GPS Card Software V ersion 4.50 Co mmand D escrip tions Manual Rev 1 RALA/B . ........... ....... ........... ........... ....... ........... ....... ........... ........ .......... ........ ........... .................. ...186 RASA/B . ........... ....... ........... ....... ........... ....... ........... .......[...]

Table of Con tents MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 7 FIGURES 2-1 The WAAS Concept ...... .......... ........ ........... ....... ........... ........... ....... ........... ....... ........... .............. ........ ....... 29 3-1 Pass-Through Log Data ............... ....... ........... ....... .[...]

Table of C ontents 8 MiLLenn ium GPS Card Software V ersion 4.50 Co mmand D escrip tions Manual Rev 1 TABLES 1-1 GPSCard Pse udorange Diff erential In itializatio n Summa ry .... ....... ........... ........... ....... ........... ....... .......... .1 6 1-2 Latency-Indu ced Extra polation Error ............. .......... ........... ........ .......[...]

Software L icense MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 9 SOFTWARE LICENSE BY OPENING THE SEALED DISK PACKAGE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS AGREEMENT. I F YOU DO NOT AGREE TO THE TE RMS OF THIS AGREE MENT PROMPTLY RET URN THE UNOPENED DISK PACKAGE AND THE ACCOMPANYING ITEM S TO NOVATE[...]

Softw are Supp ort 10 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 SOFTWARE SUPPORT Software update s are software revisions to an existing model which improves (b ut does not increase) basic functionality of the GPS receiv er. During the one year warranty coverage following initial p urchase, software updates a[...]

Foreword MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 11 FOREWOR D Congratu lations! Thank you for purchas ing a NovAtel GP SCard pro duct. Whether you have bough t a st and alone G PSC ard or a packaged receiv er you will h ave also received co mpanion documents to this manual. They will help you get th e hard[...]

1 Quick Start 12 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 1 QUICK START This chapter will help you get started quickly regardless o f whether you wish to carry out real-time kinematic (RTK) positioning, operate in differential modes or simply log data. Each section references additional sources of informatio[...]

1 Qui ck Star t MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 13 The View menu optio ns allow you to select or de- select variou s vi s ual aids and dis pla y sc reens. Take a loo k at all of the opti ons and keep open th ose you wish to dis play. To send comm ands and log dat a the Command Conso le screen shoul[...]

1 Quick Start 14 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Synt ax: log [port],datatype,[trigger],[period],[offset],{hold} The syntax for a command can contain optional parameters (OPT1, OPT2, ...). OPT2 may only be used if it is preceded by OPT1. OPT3 may only be used if it is preceded by OPT2 and so on. Par[...]

1 Qui ck Star t MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 15 COMMONLY USED LOGS Other useful logs are • RCCA to list the default comm and settin gs • ETSA to monitor the chan nel tracking status • SA T A to observe the satelli te specific data • DOP A to monitor the di lut ion of precisio n of the cu[...]

1 Quick Start 16 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 T abl e 1-1 GPSCard Pseudorange Differential Initialization Summary Initiali zation - Refer ence Station Differential mode of operation is established at the reference station thr ough a two step pro cess: fix position and logging observation and corr[...]

1 Qui ck Star t MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 17 NOTE 1: En try o f the station ID and health ar e op tio nal. For a CMR cor rection ty pe the station ID must be < 31. NOTE 2: Th e accuracy of the ref erence station’s FIX POSITION setting will directly affect the accuracy of its computed d i[...]

1 Quick Start 18 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Generally, a commun ications link capab le of data throug hput at a rate o f 4800 bits per secon d or higher is sufficient. However, it is possib le to satisfactori ly u se a lo wer rate (e.g. 240 0 bps ) with th e RTCA, RTCM59 and CMR formats . RTCM [...]

1 Qui ck Star t MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 19 used to adapt the system to a specific application. Some options apply only to the reference station, while others apply o nly to t he remote s tation. Detail ed descri ptions can be found i n Appendix C , C omm ands Summary. In the following secti[...]

1 Quick Start 20 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 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 Cong ratula t ion s! Your RT-2 0 s yst e m is now in ope ratio n[...]

1 Qui ck Star t MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 21 RTCM SC-104 is a standard f or transmitting differential correction s between equipment fr om different manufacturers. The NovAtel GPSCard is capable of transmitting or receiving RT CM data. To facilitate transmittin g t he RTCM data over shared da[...]

1 Quick Start 22 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Establishing differential mode of operation at the ro ver receiver is primarily a on e-step process whereby the accept command is used to enable reception of observ ation data from the r eference station. ACCEPT COMMAND The accept command is primarily[...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 23 2 COMMAND DESCRIPTIONS 2.1 GENER AL This section describes all commands accepted by the GPSCard with the exception o f the "Special Data Input Commands ". They are l isted i n alphabetical order. For desc riptions o f output logs[...]

2 Comman d Descr iptions 24 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 NOTE: All previously stored configurations that were saved to non-volatile memor y are erased (including Saved Conf ig, Saved Almanac, and Chan nel Config ). Exampl e: Optional calculati o n of the checksum When an inp ut command is followe[...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 25 2.2 STANDARD CO MMAND TABL ES Table 2-1 lists the commands by functi on w hile Table 2-2 is an alphabetical listing of commands. Please see Appendix C, Page 79 for a more detailed des cription of in dividual comma nd s which are listed alp[...]

2 Comman d Descr iptions 26 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Table 2-1 Commands By Function Table (continued) 1 Intended for advanced users of GPS only . POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL Comm ands Descriptions CSMOOTH 1 Sets am ount of carrie r smo othin g DATUM Choose a DATUM nam[...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 27 Table 2-1 Commands By Function Table (continued) T able 2-2 GPSCard Command Summary DIFFERENTIAL REMOTE STATI ON Comma nds Descriptions ACCEPT Ac cepts R TCM1 , RTCA or R TCAB di fferent ial inputs $ALMA Input alm anac data DGPSTIMEOUT Set[...]

2 Comman d Descr iptions 28 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 DIFF_P ROTO COL Differ ential c orrectio n mes sage e ncodin g and dec oding f or implemen tation in the GPS ca rd firm ware diff_prot ocol ty pe key or diff_p roto co l disa ble or diff_p rotoco l DYNA MICS Set receiver dynam ics dynamic s[...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 29 2.3 WAAS The Wide Area Augmentation System (WAAS) is a safety-critical system th at provides a quality of positioning information p reviously unavailable. The WAAS improves the accuracy, integr ity, and availability of the basic GPS signal[...]

2 Comman d Descr iptions 30 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 The signal broadcast via the WAAS GEOs to the WA AS users is designed to minimize modifications to standard GPS receivers. As such, the GPS L1 frequency (1575.42 MHz) is used, together with GPS-type modulation - e.g. a Coarse/Acquis ition ([...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 31 The GPSCard is capab le of logg ing almanac d ata utilizing th e NovAtel-format ASC II log comman d option ALMA . Once logged, the data records will precede the header with th e $ ch aracter (e.g., $ ALMA ). There are no s pecific NovAte l[...]

2 Comman d Descr iptions 32 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 $UTCA... Use this special data input command to quickly update the GPSCard Universal Time Coor dinated ( UTC ) parameters following a system restart (always appended to $ ALM A records unles s intentionall y stripp ed). The UTC data i s req[...]

2 Comman d Descr iptions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 33 Appendix D, Page 1 9 2 . An example of a $ REPA data message is as follows: $REPA,14,8B09DC17B9079DD7007D5DE404A9B2D04CF67 1C6036612560000021804FD, 8B09DC17B98A66FF713092F12B359DFF7A0254088E1656 A10BE2FF125655, 8B09DC17B78F0027192056EAFFDF[...]

3 Data Lo gs 34 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 3 DATA LOGS 3.1 OUTPUT LOGG ING The GPSCard provides vers atility in your logg ing requirem ents. You can direct your logs to either COM 1 or COM2 , or both ports, as well as comb ine data t ypes. Th e GPSCard h as four major logg ing format s: • Nov[...]

3 Data Log s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 35 command. I f tr igger typ e is specified in the LOG synt ax, the log w ill contin ue to be ou tput based on the trigger specification. Specific logs can be disabled using the UNLOG command, whereas all enabled logs w ill be disabled by usin g the UNLO[...]

3 Data Lo gs 36 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 The followi ng tabl e describes t he format types used in t he descrip tion o f binary lo gs. Each byte within an int has its own add r es s, and the smallest of the addresses is the add r es s of the in t. The byte at this lowest address co ntains th [...]

3 Data Log s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 37 3.4 NMEA FO RMAT DATA LOGS Gener al The NMEA log structur es follow format standards as adopted by the National Marine Electronics Association. The reference do cument used is "Standar d For Interfacing Marine Electronic Devices NMEA 0183 Ver sio[...]

3 Data Lo gs 38 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 GPS time is base d 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 offset of seconds applied to coo rdinate Universal Time to GPS time. GPS time is des ignate d as[...]

3 Data Log s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 39 Table 3-1 Logs B y Function Table (continued) SATELLITE TRACKING AND CHANNEL CONTROL Logs Descri ptions ALMA /B Curre nt dec od ed alma nac da ta DOPA/B DOP of SVs curre ntly tra cking ETSA/B Provides cha nnel track ing status infor mation for e ach o[...]

3 Data Lo gs 40 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Table 3-1 Logs By Function Table (continued) DIFFERENTIAL REMO TE STATION Logs Descript ions CDSA/B Comm uni catio n and diff ere ntial de c ode status GPGGA N MEA , posi tion fi x da ta GGAB NovAtel binary v ersion of GPGGA POSA/B Position information[...]

3 Data Log s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 41 T able 3 -2 GPSCar d Log Summary Note: A/B/D: A refers to GPSCard output logs in A SCII format. B refers to GPSCard output logs in Binary format. D refers to GPSCard output logs in compressed binary format. Syntax : log po rt,dat atype,[ trigg er], [p[...]

3 Data Lo gs 42 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 3.7 WAAS The Wide Area Augmentation System (WAAS) is a safety-critical system that provides a q uality of positioning information previously unavailable. The WAAS improves the accuracy, integrity, and availability of the basic GPS signa ls. 3.7.1 W AAS[...]

3 Data Log s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 43 Figure 3-1 Pass-Through Log Data When pass-t hrough log s are being used, the GPSCard’ s comm and interpreter continu es to monitor the port fo r valid input co mmands and replie s with erro r messages when the da ta is not reco gnized as such. If y[...]

3 Data Lo gs 44 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Exam ple 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,Co[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 45 4 MESSAGE FORMATS In a NovAtel RTK po sitioning system , the observations transm itted by a NovAtel reference stati on to a NovAtel remote station can be in either a proprietary RTCA Type 7 o r a proprietary RTCM Type 59N message format. A NovAt[...]

4 Message Formats 46 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 RTCAREF TYPE 7 An RTCAR EF (RTCA Reference Station Position Information) message contains referen ce station position informati on, and should be s ent once every 10 secon ds. Each message is 24 byt es (192 bi ts) lon g. If RTCA-format messagin g [...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 47 NovAtel header and terminates with a checksum. This messag e was des igned so that RT CA d ata can be intermixed wi th other Nov Atel ASCII data over a commo n communications p o rt. The lo g is not in pu re RTCA format. The header ( $RTCA ) and[...]

4 Message Formats 48 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104, Differenti al GPS Serv ice (RTCM SC-104, Washington, D.C.), ha ve been adopted by NovAtel for implementati on into the GPSCard. Because t he G[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 49 R TCM Standard Commands RTCMRULE The RTCM standard states that all equipment shall support the use of the "6 of 8" format (data bits a 1 throu gh a 6 where bits a 1 through a 6 are val id d a ta bi ts a nd bit a 7 is set to mark an d b[...]

4 Message Formats 50 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 convention, an “A” at the end of the lo g name denotes the Nov Atel ASCII version ( e.g. RTCM1A), and a “B ” denotes the Nov Atel binary version (e.g. RTCM1B). These logs contain th e same data that is availab le in the corresponding R TCM[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 51 generati ng this Type 1 log. The log is of variable length , depending on the nu mber of s atellites vi sible and pseudorange s corrected by the reference station. Satellit e specific data begins at wo rd 3 of the message. Structure: (Follows RT[...]

4 Message Formats 52 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 This message was designed so that RTC M data can be transmitted in termixed with other No vAtel binary data o ver a common communi cations po rt. The log is n ot in pure RTCM SC104 format and is not directly usable as such. GPSCard remote receiver[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 53 R TCM9 PARTIAL SATELLITE SET DIF FERENTIAL CORRECTIONS RTCM Type 9 messages follow the same format as Typ e 1 messages. However, unlike Type 1 messages, Type 9’s do not require a com plete satellite set. This allo ws for much faster di fferent[...]

4 Message Formats 54 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 $RTCM16,6649404045495E5A5C406A58696D76596D5F665F765869694D4E53604D 70696552567E7B675762747B67576C574E596F59697146555A75516F5F667D4967 5656574E53604D55565A6D69647B67777E454659685D56465A67616E4B7E7F7F7D *52[CR][LF] RTCM16B This message is the binary[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 55 capable of operating in RT-20 Carrier Phase Differential Posi tioning Mode. This log is p rimarily used by a GPSCard reference station to broadcast its RT-20 observation data (d elta pseudorange and accumu lated Doppler range) to rem o te R T-20[...]

4 Message Formats 56 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Using RT -2 or RT -20 with CM R Format Messages To enable receiving CMR messages, follow these step s: 1. Issue the COMn command to the ro ver receiver to set its serial port parameters to the proper bit r ate, parity , etc. This command is des cr[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 57 COM1> log com2 rinex ontime 30 (some time later - move to a new site) COM1> log com2 xkin COM1> rinex markernum 980.1.35 COM1> rinex antdh 3.1 (at n ew si te) COM1> log com2 xsta (some time later - logging comp lete) COM1> unlo[...]

4 Message Formats 58 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Command ex ample: 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 tria[...]

4 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 59 Log exampl e: $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 broadcast navigation message records for each satellite being used. Each set o[...]

4 Message Formats 60 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Command ex ample: COM1> log com2 xobs ontime 5 Log e xam ple: $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 Messag e Formats MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 61 XST A OBSERVATION STATIC EVENT This log g enerates a time tag and f lag when a new site occupat ion begin s. Command exa mple: COM1> log com2 xsta Log exampl e: $XOBS, 96 04 10 17 25 45.0000000 3 4*39 $XOBS,A980 MARKER NAME*7F $XOBS,980.1.35 [...]

A GPS Ov ervi ew 62 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 A GPS OVERVIEW The Global Positioning System (GPS) is a satellite navigation system capa ble of providing a highly accurate, con tinuous glo bal na vig ation servi ce in depen dent o f o ther posit ionin g aids . GPS provides 24-hour, all-weath er,[...]

A GPS Ov ervi ew MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 63 the Space Vehicle Number ( SVN ) or the Pseudoran dom Code Number ( PRN ). The PRN is us ed by the Nov Atel GPSCard. The GPS s atellites transm it on tw o L-band frequencies; one centered at 15 75.42 MHz (L1 ) and the other at 12 27.60 MHz (L2). T[...]

A GPS Ov ervi ew 64 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Figure A-2 Illustration of GPSCard Height Measur ements From the above d iagram, and the f ormula h = H + N, to convert hei ghts b etween the ellipsoid an d geoid we require the geoid-ellips oid separation value. Thi s value is not easy to determin[...]

A GPS Ov ervi ew MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 65 Figure A-3 Ac curacy versus Precision 5 Single-point vs. Relative Positioni ng In single- poi nt positioning, coordinates of a GPS receiver at an unknown location are sought with respect to the earth’ s reference frame by using the known po siti[...]

A GPS Ov ervi ew 66 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Figure A-4 Example of Differential P ositioning Static vs. Kinemati c Positi oning Static an d kinem atic positioni ng refer to whether a GPS receiv er is st ationary or in motion while collecting GP S data. Real-time vs. Post-mission Data Processi[...]

A GPS Ov ervi ew MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 67 1. The matc hed position solution is computed at the remote station when th e observatio n in formation fo r a give n ep och h as arr ived f rom the refer ence statio n vi a the da ta lin k. Ma tche d obs erva tion set pair s are observations by b[...]

A GPS Ov ervi ew 68 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 • Ionos pheri c Group D e lays – The earth’ s ionosp heric layers cause varying degr ees of GPS signal p ropagation delay . Ionization lev els tend t o be hig hest dur ing dayl ight hou rs causing propagati on delay er rors of up to 30 meter [...]

A GPS Ov ervi ew MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 69 a specified number of hours or until the averaged positio n is within specified accuracy limits. Averagin g will stop when the time limit o r the horiz ontal stand ard devi ation limit or the vertical s tandard deviation limit is achieved. When av[...]

A GPS Ov ervi ew 70 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 satellite cons tellation. The graph, however, should at least provide some indicati on of the accuracy one may expect from single p oint positio n av eraging. Dual Station Dif ferential Positioning It is the objective of o perating in differential [...]

A GPS Ov ervi ew MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 71 THE REFERENCE STATION The nucleus of the differential network is the reference station. To function as a base stat ion, the GPS receiver antenna must be positioned at a cont rol point whose p osition is precisely known in the GPS reference frame. [...]

A GPS Ov ervi ew 72 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 ADR doubl e diffe rence = (ADR r x A,sat i - ADR rx A,sat j ) - (ADR rx B,sat i - ADR rx B, sat j ) An ambiguity v alue is esti mated for each do uble-difference observation. One s atellite is common to every satel lite pair; it is called the refer[...]

B M ultipa th Elimi nation Techno logy MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 73 B MULTIPATH ELIMINATION TECHNOLOGY Multipath signal reception is one of the mo st plaguing problems that d etracts from the accuracy potential of GPS pseudorang e differential positionin g systems. This section will provide a[...]

B M ultipa th Elimi nation Technolog y 74 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 settings as well. If the GPS receiver is in a v alley with nearby hills, mo untains and heavy ve getation, signal obstructio n and attenuation are als o very commo n. Consequences of Multipath Reception Because GPS is a radio [...]

B M ultipa th Elimi nation Techno logy MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 75 and at all bearings and elevation ang les f rom the anten na. This is, of co urse, the ideal situation, which may not b e possib le unde r act u al ope ratin g cond ition s. Try to place the antenna as far as possible from ob[...]

B M ultipa th Elimi nation Technolog y 76 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Figure B-3 Illu stration of Quadrifilar vs. Micro strip Patch Antennae Antenna Ground Planes Nearby objects can influence the radiation pattern of an antenna. Thus, one of the roles of the antenna ground plane is to create a s[...]

B M ultipa th Elimi nation Techno logy MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 77 the part of the GPS user. This is what makes NovAtel’s internal receiver solutions so desirable and practical. NovAtel has placed lon g term concerted eff o rt into the development of internal receiver solutions and techniq[...]

B M ultipa th Elimi nation Technolog y 78 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Figure B-4 Comparison of Multipath Envelopes SUMMARY Any localized propagatio n delays or multipath signal receptio n cause biases to the GPS rangin g measurements that cannot be differenced by traditional DGPS single or doubl[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 79 C COMMANDS SUMMARY ACCEPT The ACCEPT command controls the processing of input data and is prim arily us ed to set the GPS C ard’s COM po rt command interp reter for acceptance of variou s data formats. Each port can be controlled to allow AS[...]

C Commands Summa ry 80 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 Synt ax: Exampl e: accept com1 rtcm ACCEPT port option Syntax Range Value Description Defa ult ACCEPT - Command por t COM1 or COM 2 Spec ifies the COM por t to be controll ed opti on NONE T urn off Comm and Interpreter commands (GPSCard model de[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 81 ANTENNAPOWER On MiLLennium GPSCards this command enables or disables the supply of electrical po wer from the internal power source of the card to the low-noise amplifier (LNA) of an active antenna. Jumper P301 allows the user to power the LNA[...]

C Commands Summa ry 82 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 ASSI GN This comm and may be used to aid in the ini tial acquisitio n of a satellite by allowing you to override the auto matic satellite/channel as signment and reacquisition processes with manual instructio ns. The command sp ecifies that th e[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 83 CLOCKADJUST All oscillators ha ve some inherent d rift. On the MiLLennium GPSCard, the cloc k and the PPS strobe have a 50 ns jitter due to the receiver’ s attempts to keep th e clock as close as possible to GP S time. This optio n is disabl[...]

C Commands Summa ry 84 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 COM n This command p ermits you to config ure the GPSCard COM port’ s asynchro nou s dri ver s. 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 different par ame[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 85 COMn_R TS This command enables versatile cont rol of the RTS handshake line for use with output data l ogging in conjunction with external dev ices such as a rad io trans mitter. The default state for the COM1 or COM2 RTS line i s always high.[...]

C Commands Summa ry 86 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 CON FIG This command switches the channel configuration o f the GPSCard between pre-defined configu rations. When invoked , this command loads a new sat ellite channe l-configuratio n and forces the GPSC ard to reset. The types of configura tion[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 87 CRESET Configuration Res et. Resets user configuratio n 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 hardwar e. See the Factory Default Settin gs . Syntax: [...]

C Commands Summa ry 88 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 CSMOOT H This command sets the amount of carrier smooth ing to be performed o n the pseudorange measurements carrier. An input val ue of 100 corres ponds to appr oximately 100 second s of smoothi ng. Upon issuing the command, the locktime for al[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 89 DA T UM This command permits you t o select the geodetic datum for op eration of the receiver. If not set, the value is defaulted to WGS84 . See Table G-2 in Appendix G for a complete listing of all available predefined datums. See the USERDAT[...]

C Commands Summa ry 90 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 DGPSTIMEOUT This command has a two-fold functio n : (1) to set the maximum age of d ifferential data that will be accepted wh en operating a s a remote station. Dif- ferential data received that is older than th e specified time will be ignored.[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 91 DIFF_PRO TOCOL Dif ferential Pr otocol Control NOTE: The DIFF _ PROTOCOL command sho uld on ly be used b y advanced users of GPS . Features: 1. A user definable key such that many different types of en coding may be used in th e same area with[...]

C Commands Summa ry 92 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 DYNAMICS This command infor ms the receiver of user dy namics. It is used to optimally tune receiver parameters. Synt ax: Exampl e: dynamics foot DYNAMICS user_dynamics Comma nd Description Defa ult DYNA MICS Command dynamics user_dynami cs air [...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 93 ECUTOFF This command sets th e elevation cut-off angle for usabl e satellites . The GPS Card will no t start tracking a satellite until it rises abov e the cutoff angle. If there are s ix o r less satellites b e ing tracked and one dr op s bel[...]

C Commands Summa ry 94 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 EXTERNALCLOCK Overvi ew The EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY commands allows the MiLLennium GPSCard to operate with an optio nal external oscillator. The user is able to optim ally adjust the clock model parameters of the GPSCard for va[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 95 Syntax: Example: externalclock user 1.0e-20 1.0e-24 1.0e-28 T able C-2 D efault Values of Process Noise E lements EXTERNALCLOCK option Command Option De scription Default EXTERNALCLOCK disable Rever t to the on-b oard osci llator MiLLennium = [...]

C Commands Summa ry 96 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 EXTERNALCLOCK FREQUENCY Please see the Overview and Theory sub-sect ions under the EXTERNALCLOCK comm and to unders tand the ste ps involved in usin g an optional ex ternal o scillat or with a MiLLennium GPSC ard. For the chosen oscillato r, one[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 97 FIX HEIGHT This comman d configures t he GPSC ard in 2D mode with its height co nstrained to a given valu e. The command would be u sed mainly i n marine appli cations where height in relation to mean sea level may be considered to b e approxi[...]

C Commands Summa ry 98 MiLLenn ium G PSCard Softwar e Vers ion 4.50 Co mmand D escr iptions Manual Rev 1 FIX POSITIO N Invoking this command will result in the GP SCard pos ition being h eld fixed. A com putation will be done to solve local clock offset, pseudorange, an d pseudorang e differential corrections. This mode of operation can be u sed fo[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 99 FIX VELOCITY This command supports INS (Inertial Navigation System) integration. It accep ts ECEF XYZ velocity values i n units of meters per second (m/s). This information is only used by the tracking loops of the receiver to aid in reacquisi[...]

C Commands Summa ry 100 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 FREQUENCY_OUT This command allows the user to specify the frequency of the ou tput pulse train available at the variable frequency (VARF) pin of the I/O strobe connector. This comm and has no effect on the operation of the GPSCard; it is only [...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 101 FRESET This comman d clears all dat a which is stored in n on-volati le memory. Such data include s the almanac, s atellite channel configuration, an d any u ser-specific config urations. Th e GPSCard is forced to reset and will start up with[...]

C Commands Summa ry 102 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 HELP This comm and provides you with on-line help . The command, with no optio ns, gives a comp lete l ist of the valid system commands. For detailed help on any command, appe nd the optional command name to the HE LP command. Synt ax: OR: Exa[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 103 IONOMODEL WAAS This command allows the user to d ecide what ionospheric corre ctions the card uses. This comman d currently does not effect the ionosp heric model th at is used wh en the card is o perating in RT K mode. Additio nal range val [...]

C Commands Summa ry 104 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 LOC KOUT This comman d will prevent the GPSCard from usin g a satellite by de-weighting its range in the solut ion computations. Note that the LOCKOUT command does not prevent the GPSCard from tracking an un desi rable satellite. This command [...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 105 LOG Many diff erent types of data can be logg ed us i ng s ever a l d if feren t met h ods of t rig gering the log even ts. Ev ery l og element can be directed to either the COM1 or COM2 ports. If a selected log element is to b e directed to [...]

C Commands Summa ry 106 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 MAGV AR The GPSCard computes directions ref erenced to True North. Use this comman d ( magnetic variation cor rection) if you intend to navigate in agreement with magnetic compass bearings. The correction value entered here will cause the &quo[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 107 Figure C-3 Illustra tion of Magnetic Variation & C orrection[...]

C Commands Summa ry 108 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 MESSAGES The MES SAGES command is used to disable the port prompt and error message reporting fro m a specified port. This feature can be useful if the port is connected to a modem or other device that responds with data the GPSCard does not r[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 109 POSA VE This command implements position averaging f or reference stations. Position averaging will continue for a specified number of hours or until the aver aged position is within specified accuracy limits. Averaging will stop when the tim[...]

C Commands Summa ry 110 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RESET This command performs a hardware res et. Followi ng a RESET command, the GPSCard wi ll initiate a cold-start bootup. Therefor e, the receiver configuration will revert to the factory default if no user configuration was saved or the last[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 111 RESETH EA L TH This command cancels the SET HEALTH command and resto res the heal th of a satellit e to the broadcast v alue contained in the almanac and ephemeris data. Syntax: Example: resethealth 4 RESETH EAL THALL This comm and resets the[...]

C Commands Summa ry 112 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RINEX Receiver-Independent Ex change Format The RINEX format is a broad l y-accepted, receiver-ind ependent format f or storing GPS data. I t features a non - proprietary ASCII file format that can be used to combine or pr ocess data generated[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 113 R TCM16T This is a NovAt el com mand relatin g to t he RTCM Standard ASCII message t hat can be sent o ut in RT CM Type 16 format. Once created, the RT CM16T message can b e viewed in the RCCA command setting s list. T he text m essage can al[...]

C Commands Summa ry 114 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RTCMRULE This command allow s the user flexibi lity in the usage of the RTCM Stand ard "bit rule". See Chapter 4 , for f u rther information.[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 115 RTK M O D E This com mand sets up the RTK (RT-2 or RT-20) mo de. Invok ing this command allows you to set differen t parameters and contro l the operation of the RTK system. The RTKMODE command is actually a family of commands; a descri ptio [...]

C Commands Summa ry 116 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Below is additional information for each argu ment: Command Argum ent Default Argume nt Data Range RTKMODE defaul t default enable or d isable enabl e reset auto , static or kin ematic auto fixed or float fixed unknown_ba seline, unknown_basel[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 117 Station Command 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_BASEL INE prevents the RTK system from using any basel[...]

C Commands Summa ry 118 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Station Co mmand Argument Remote rtkmode auto (default) static kinematic RTKMODE AUTO configures the RTK system to automatical ly detect motion . It is the d efault mode. It will reliably det ect motion of 2.5 cm/sec or great er. If you are un[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 119 SA VEALMA This command sav es the latest almanac in non-volatile memory. The option ONNEW is the default; if a different setting is used, a SAVECONFIG command mu st be issu ed or else ONNEW will resume after a reset. Bit 21 in th e receiver s[...]

C Commands Summa ry 120 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SA VECONFIG This command sav e s th e user’s present configuration in no n-volatile mem ory. Synt ax: SAVECONFIG[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 121 SEND This command is used to send ASCI I printa ble data from the COM1 or COM2 or disk f il e to a specified communications por t . This is a one-time command, therefore the data message must be p receded by the SEND command follo wed by the [...]

C Commands Summa ry 122 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SENDHEX This command is lik e the SEND comm and but is used to send n on-printable character s expressed as hex adecimal pairs. Synt ax: SENDHEX to-port data Syntax Range Value Descript ion SENDHEX Command to-port COM1, COM2 Port option data ?[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 123 SETDGPSID This command is used to enter a s tation ID . Once set, the receiv er will only accept d ifferential corrections from a station whose ID matches th e set station ID . It is typically used when a stati on has data l inks contai ning [...]

C Commands Summa ry 124 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SETHEAL TH This command permits yo u the flexibility to override th e broadcast health of a satellite. Under certai n conditions and application s, it may be desirable to track and use information from a GPS satellite even though its health ha[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 125 SETL1 OFFS ET The characteristic signal delays introduced b y the antenna, coaxial cable and GPSCard RF section will v ary from one system configuration to another . These delays are measurable using external test equipment. For applications [...]

C Commands Summa ry 126 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SETNA V This command per mits entry of one s et of navi gation waypoi nts (see Figure C- 5 ). The origin ( FROM ) and destinat ion ( TO ) waypoint co ordinates entered are considered o n the ellip soidal surface of t he current datum (default [...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 127 Figure C-5 Illustration of SETNAV Parameters Refe rence De scription 1T O , l a t - l o n 2 X-Track p erpendic ular r eferenc e point 3 Current GP S pos it ion 4 A-Track p erpendic ular r eferenc e point 5 X-Track (cross-track ) 6 A-Track (al[...]

C Commands Summa ry 128 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SETTIMESYNC This command enables or di sables time sync hronization, wh ich permits two GPS Cards in a master/slave relationshi p to be syn chronized to a common exte rnal clock fo r range comparis ons. By defaul t, this fu nction is disabled.[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 129 UNASSIGN This command cancels a previously issued ASSIGN command and the channel reverts to automatic control. If a channel has reached state 4 ( PLL ), the sa tellite b eing tracked will not be dro ppe d when the UNASSIGN command is issued, [...]

C Commands Summa ry 130 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 UNDULA TION This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations . The separation values only refer to the separat ion between the WGS8 4 ellipsoid and the geoid, regardl[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 131 UNFIX This comm and removes all p osition constraints invoke d with any of the FIX commands ( FIX POSITION , FIX HEIGHT , or FIX VE LOCITY ). Syntax: UNFIX UNLOCKOUT This command allows a satellite which has been previou sly locked ou t ( LOC[...]

C Commands Summa ry 132 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 UNL OG This command permits you to remove a specific log request from the system. The [ port ] parameter i s optional. I f [ po rt ] is not specified, it is defaulted to the port that the command was received on. This feature eli minates the n[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 133 USERDA TUM This comman d permit s entry o f custom ized ellip soid al datum parame ters. Use this comm and in co njun ctio n with the DA TU M command . The defau lt set ting is WGS84 . Syntax: Example: userdatum 6378206.4,294.9786982,-12,147,[...]

C Commands Summa ry 134 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 VERSION Use this co mmand to determine the current software versio n of the GP SCard. The resp onse to the VERSION command is lo gged to the po rt from which the comm a nd originated. Synt ax: VERSION Exampl e: version OEM-3 MILLENRT2 ESN25144[...]

C Co mmands S ummary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 135 W AAS CORREC TI ON WAAS This command allows yo u to have an affect on how the card han d les WAAS corrections. The card will switch automatically to Pseudo range Differential ( RTCM or RTCA) or RTK if the appropriate corrections are being rec[...]

D Logs su mmar y 136 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 D LOGS SUMMAR Y LOG DESCRIP TIONS ALMA/B Decoded Almanac This log contains the decoded almanac parameters from subfram es four and five as received from the satellite with the parity info rmation removed and appropriate scalin g applied. Multiple[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 137 Example: $ALMA, 1 ,3.55577E-003,32768,745,-7.88 60E-009,-6.0052951E-002,-1.1824254E+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 Logs su mmar y 138 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 UTCA FORMAT Structur e: Exampl e: $UTCA,-2.235174179077148E-008,-1.24344978758 0175E-014,32768,745,755,9,10,5*37 [CR][LF] $UTCA pct p1ot data-ref wk#-utc wk#-lset delta-time lsop day #-lset *xx [CR][LF ] Field # Field type Data Descrip tion Examp[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 139 ALMB ALMB FORMAT: Message ID = 18 Message byte coun t = 120 IONB FORMAT: Message ID = 16 Mess age byte count = 76 Field # Fiel d Ty pe Byte s Format Units Offset 1 Sync 3 0 (header) Chec ksum 1 3 Message ID 4 4 Message byt e count 4 8 2 Satellite[...]

D Logs su mmar y 140 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 UTCB FORMAT: Message I D = 17 Messa ge Byte C ount = 5 2 Field # Field Ty pe By tes 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 Polynomial cons tant term 8 double seconds[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 141 BSLA/B Baseline Measurement RTK This log contains the most recent matched baseline representing the vector from the reference station receiver to the remote station receiver. It is expressed in ECEF coordinates with corresponding un certainties a[...]

D Logs su mmar y 142 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 BSLB Form at: Message I D = 59 Message byte count = 100 Fie l d # Data Bytes For mat 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 GPS time into t[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 143 T able D-1 GPSCard Solution Status T a ble D-2 Position T ype T abl e D-3 RTK Status for Position T ype 3 (RT -20) T able D-4 RTK Status for Position T ype 4 (RT -2) Value Descriptio n 0 Sol ution comp uted 1 In sufficient obser vations 2 N o con[...]

D Logs su mmar y 144 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 CDSA/B Communication and Differential Decode Status The GPSCard maint ai ns a running count of a vari ety of st at us in dicators of the data link . Thi s log out puts a report of those i ndicator s. Parity and framing errors will occur if p oor [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 145 Example: $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 DC SA is now obsolete. 0 26 dcsbfail DCSB is now obsol ete. 0 27 dcsbgood DC SB is now obsolete. 0 28 cmrfail The number of CMR message s whic[...]

D Logs su mmar y 146 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 CDSB Format: Message ID = 39 Message byte count = 128 Field # Data Bytes Format Uni ts 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 inte g er weeks 12 3 Time of week 4 in[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 147 CLKA/B Receiver Clock Of fset 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, the[...]

D Logs su mmar y 148 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 CLKB Format: Message ID = 02 Message byte count = 6 8 Fie l d # Field Type 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 w[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 149 CLMA/B Receiver Clock Model The CLMA and CLMB logs contain the current clock-model matrices of the GPSCard. These logs can be both generated and received by a GPSCard. NOTE: O nly advanced users should seek to alter the clock model param eters of[...]

D Logs su mmar y 150 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Exampl e: $CLMA,0,0,5.113140990E+010,5.113140990E+010,5.810550069E+003, -1.07377180E+002,-1.41936974E+002,9.744136534E+004, 1.676933050E+003,-8.98776739E+004,1.676933050E+003, 4.750666170E+002,-7.06077622E+002,-8.98776739E+004, -7.06077622E+002,8[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 151 CMR Standar d Logs The Compact Measurement Recor d (CMR) Format, a standard communications pr otocol used in Real-Time Kinematic (RTK) systems to tran s fer GPS carrier ph ase and code obser vations from a referen ce station to one or more rover [...]

D Logs su mmar y 152 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 COM1A/B and COM2A/B Pass-Through Logs There are two p ass-through log s COM1A / B and COM2A / B , available on MiL Lennium GPSCards. The pass-thro ugh loggi ng feature enables the GPSCard to redirect any ASC II or binar y data that is input at a [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 153 DOP A/B Dilution of Precision The dilution o f precision data is calculated using th e geometry of only those sat ellites that are currently b eing tracked and u sed in the position solution by the GPSCard and updated once every 60 seconds or whe[...]

D Logs su mmar y 154 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 DOPB Format: Message ID = 07 Message byte count = 6 8+(sats*4) Fie l d # Data Bytes F ormat Units Offset 1 Sync 3 cha r 0 (header) Checksum 1 cha r 3 Message ID 4 int eger 4 Message byte coun t 4 integer 8 2 Week number 4 i nteger weeks 12 3 Seco[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 155 ETSA/B Extended Track ing Status These logs provide channel tracking status information for each of the GPSCard parallel channels. NOTE: This log is inten ded for stat us display o nly; sin ce some of the data elemen ts are not synchron ized toge[...]

D Logs su mmar y 156 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Example (carriage returns have been added between observations for 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[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 157 FRMA/B Framed Raw N avigation Data This message contains the raw framed navig ation data. An individual message is sent for each PRN being tracked. The message is updated with each new frame , theref ore it is best to log the data with the ‘onn[...]

D Logs su mmar y 158 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GGAB G lobal Position System Fix Data (Binary Format Only) Time, position an d fix-related data of the GPS receiver. This binary log is a repl ica of the NMEA GPGGA ASCII log expressed i n binary fo rmat with NovAt el header add ed. Format: Messa[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 159 GP ALM Almanac Data This log outputs raw alman ac data for each sat ellite PRN contained in the broad cast message. A separate r ecord is logged for each PRN , up to a maximum of 32 record s. Followi ng a GPSCar d reboot, n o records will be o ut[...]

D Logs su mmar y 160 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPG GA Glo bal Posi tion Sy stem Fi x Data Time, position and fix-related data of the GPS receiver. The information contained in this log is also available in the NovAtel GGAB log in binary format. This log will output all null d ata fields until[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 161 GPGLL Geographic Position Latitude and longitud e of present vessel p osition, tim e of pos ition fix, and status . This log will outpu t all null data fields until th e GPSCard has ach ieved first fix. Structure: Example: $GPGLL,5106.7198674,N,1[...]

D Logs su mmar y 162 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPGRS GPS Range Residuals for Each Satelli te Range resid uals can be computed in two ways, and this log reports th ose residu als. Under mod e 0, residuals ou tput in this log are us ed to u pdate t he positio n so lutio n outpu t in th e GPGGA [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 163 GPGSA GPS DOP and Active Satellit es GPS receiver operating mode, satellites used for navigation and DOP values. Structure: Example: $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 pr[...]

D Logs su mmar y 164 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPGST Pseudorange Measurement N oise Statistics Pseudorange measurement no ise statistics are translated in the position domain in order to give statistical measures of the qual ity of the position solution. Structure: Exampl e: $GPGST,192911.0,2[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 165 GPGSV GPS Satellit es in V iew Number of SVs in view, PRN numbers, elevation, azimuth and SNR value. Four satellites maxim um per mes sage. When required, additional s atellite d ata sent in second or third message. Total nu mber of me ssages be [...]

D Logs su mmar y 166 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPRMB Navi gati o n Information Navigation d ata from presen t position to a destination waypoi nt. 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 log s[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 167 GPRMC GPS Specific Information Time, date, position, track made good and sp eed data provided by the GPS navigation receiver. RMC and RMB ar e the rec omm ende d mi nimum navig ation data to be provid ed b y a GPS receiver. This log will output a[...]

D Logs su mmar y 168 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPVTG Track Made G ood And Grou nd Sp eed The track made goo d and speed relative to the ground. 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 *x x [CR][LF] [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 169 GPZDA UTC Time and Date This log will ou tpu t all null data fields unti l the GP SCard has achieved first fix. Structure: Example: $GPZDA,220238.00,15,07,1992,00,00*6F [CR][LF] 1 Local time zones are no t supported by the GPSCard. Fields 6 and 7[...]

D Logs su mmar y 170 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 GPZTG UTC & Time to Destination Waypoint This log repo rts time to destin ation waypoin t. Waypoint is set using the GPSC ard SETNAV command. If destination waypoint has not been set with SETNAV , time-to-go and destin ation w ayp oint ID wil[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 171 MKP A/B Mark Position This log co ntains the estimated posi tion of t he antenna at det ected mark impuls e. It use s the last valid pos ition and velocities to extrap olate the position at time of mark . R efer to the GPSCard Inst allat ion and [...]

D Logs su mmar y 172 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 MKT A/B T ime of Mark Input This log contains the time of the detected Mark Input pu lse leading edge as detected at the Mark Input I/O port. The resolution of this measurement is 4 9ns. Refer to the GPSCard In stalla tion and Operat ing Manu al [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 173 NA V A/B Waypoint Navigatio n Data This log repo rts the st atus o f your way point nav igation progress. It is us ed in co njunctio n with th e SETNAV command. REMEMBER : The SETNAV command must be enabled befo re valid data will be repo rted fr[...]

D Logs su mmar y 174 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 NA VB Format: Message ID = 08 Message byte count = 7 6 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 L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 175 Figure D-1 Example of Navigation Parameters A = FROM lat-lon B = TO lat-lon AB = Great circle line drawn between FROM A lat-lon and 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 (p arallel [...]

D Logs su mmar y 176 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 P A V A/B Position Averaging Status These logs are m eant to be used i n conjunction with th e POSAVE command. If the POSAVE command has no t been issued, all fields in th e PAVA / B logs except week and seconds will be zero. However, when positi[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 177 PAV B Format: Message ID = 50 Message byte coun t = 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 intege r 8 2 GPS week number 4 integer weeks 12 3 GPS seconds i[...]

D Logs su mmar y 178 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 POSA/B Computed Position This log will contain the last valid pos ition and time calculated referenced to the GPSA ntenna phase centre. The positi on is in geogr aphic coordinat es in degr ees based on you r specified datum (defau lt is WGS84 ). [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 179 PR TKA/B Compute d Posit ion (RTK) This log contains the best available position computed by th e receiver, along with three status flags. In addition, it repor ts other st atus indicat ors, inclu ding differen tial lag, which is usefu l in predi[...]

D Logs su mmar y 180 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Exampl e: $PRTKA,872,174963.0 0,1.000,8,7,7,51.11358042429, -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 count = 124 Fie l d # Da ta Bytes Format Un its Offset [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 181 PV AA/B XYZ Position, V elocity and Acceleration The PVAA / B logs contain the receiver’s latest computed position, velocity and acceleration in ECEF coordinates. The position, velocity and acceleration status fields indicate whether or not the[...]

D Logs su mmar y 182 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 PV AB Format: Message ID = 49 Message byte count = 1 08 Fie l d # Field Type Bytes Format Uni ts Offset 1S y n c 3 c h a r 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 GPS week nu mber 4 integer weeks 12 3[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 183 PXY A /B Computed Cartesian C oordinate Position This log contains the last valid position, expressed in Cartesian x-y-z space coordinates, relative to the center of the Earth. The po sitions ex p ressed in this lo g are always relative to WGS84 [...]

D Logs su mmar y 184 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 PXYB Format: Message ID = 26 Message byte count = 8 8 1 This log provides dif fe rential fix and lag 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 [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 185 Figure D-2 The WGS84 EC EF Coordinate System[...]

D Logs su mmar y 186 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RALA/B Raw Almanac Almanac and h ealth data are contained in subframes four and five of th e satellite broadcast mes sage. Sub frame four contains i nformation for SVs 25-32, as well as io nospheri c, UTC and SV co nfiguration data. Subframe fi v[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 187 RASA/B Ra w Alman ac Set This is a single log for the entire Almanac data set. Onl y a complete log will be set so yo u do not have to worry about ephemer is data imitating an Alma nac. RASA Example: $RASA,926,246000,926,319488,1,30,4,2,8B0E784FD[...]

D Logs su mmar y 188 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RASB Format: Message ID = 66 Mes sage byte count = 40 + (n * 32) Note: V ariable Length = 40 + (n * 32). Maximum = 40 + (50 * 32) = 1640. T ypical size (31 subframes) = 1032 bytes. Field # Data Bytes Format Un its Offset 1 Sync 3 cha r 0 Checksum[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 189 RBT A/B Satellite Broadcast Data: Raw Bits This message co ntains the satellit e broadcast data in raw bits b efore FEC (forward error correction) decod ing or any other processing. An individual message is sent for each PRN being tracked. For a [...]

D Logs su mmar y 190 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RCCA Receiver Config uration This log outpu ts a list of all current GPSC ard comma nd setti ngs. Obs ervin g this log is a good way to monitor the GPSCard confi guration settings. S ee Chapter 2 , Page 24 fo r the RCCA default lis t.[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 191 RCSA/B Receiver Status The RCSA log will always output fou r records: one for VERSIO N , one for receiv er CHANNELS , one for receiver CPU IDLE time, and one indicating receiver sel f-test S TATUS . However, RCSB will embed the same information i[...]

D Logs su mmar y 192 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 REP A/B Ra w Eph eme ris REP A This log contains the raw Binary information for subframes o ne, two and three from the satellite with the parity information remo ved. Each sub frame is 240 bits long (10 wo rds - 24 bits each) and the lo g contain[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 193 RGEA/B/D Channel Range Measurements RGEA/B/D contain th e channel range measurements for the currently observed satellites. The RGED message is a compressed form of the RGEB message. When using these logs, please keep in mind the constraints note[...]

D Logs su mmar y 194 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RGEA Structure: 1 This outpu t will al ways b e a he xadecim al rep resent ation w hich must be con verted to bina ry form at. In this exa mple, the conve rsi on give s 00000000 00001 01 1 00100 0001 11 1 1 1 1 1 in binary format , see Appe ndix [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 195 RGEB Format: Message ID = 32 Message byte count = 32 + (obs x 44) RGED Format: Message ID = 65 Message byte count =24 + (20 x num ber of obs) Field # Data By tes Format Uni ts Offset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 intege[...]

D Logs su mmar y 196 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T a ble D-5 Rece iver Se lf-T e st Status C odes 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 on Range Val ues He x Va l u e ls b = 0 ANTENNA 1 [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 197 Notes on Table D-5 : 1. Bi t 3: On OEM GPSCards, “ROM” includes all forms of non-v olatile memory. 2. Bi ts 12 -15 : Flag is reset t o 0 fiv e minutes aft er the la st overrun /overload condit ion has occurred. GPSCard example: All OK = 0000 [...]

D Logs su mmar y 198 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 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 mode where it re-map s the A/D decode values as w ell as special L 1 AGC feedback control. These a[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 199 Bit 20 OCXOPLL 1 When an external oscillator is conn ected and the OCXOPLL bit p a sses self-test, the bit will be s et 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 Saved [...]

D Logs su mmar y 200 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 4 ADR (Accumulated Doppler Range) is calculated as fo ll ows: ADR_ROLLS = ( -RGED_PSR / WA VELENGTH - RGED_ADR) / MAX_VALUE Round to the closest integer IF (ADR_ROLLS ≤ -0.5) ADR_RO LLS = ADR_ ROL LS - 0 .5 ELSE ADR_RO LLS = ADR_ ROL LS + 0 . 5[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 201 T a ble D-7 Channel Tracking Status Table D-7 is referenced by the ETSA/B, FRMA/B, RGEA/B/D and W RCA/B logs. Table D- 7, Bit s 0 - 3: Cha nnel Tr ack i ng St ate Table D- 7, Bit s 12 - 14: Co rre lator Spac ing Sta te Description State Descripti[...]

D Logs su mmar y 202 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RIN EX The Receiver-Independent Exch ange (RINEX) format is a broadly-accepted, receiver-indepen dent format for storing GPS data. It features a non-prop rietary ASCII file f o rmat that can b e used to combine or process data generated by r ecei[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 203 RPSA/B Reference Station Position and Health This log contains the ECEF X YZ position of th e reference station as received through th e RTCA Type 7 or R TCM Type 3 message. It also features a time tag, the health status of the reference station,[...]

D Logs su mmar y 204 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RTCA Standard Logs The RTCA (Radio Technical Commi ssion for Avi ation Servi ces) St andard i s bein g desi gned to s upport Dif ferential Global Nav igation Satellite System ( DGNSS ) Special Category I ( SCAT - I ) pr ecision in strument approa[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 205 RT KA/B Computed Po sition - T ime Matched RTK This log repres ents positions that h ave been computed from time matched referen ce and remote observat ions. There is no ref erence station extrap olation error on these positions but because they [...]

D Logs su mmar y 206 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RTK B Form at: Message I D = 61 Message byte count = 116 Field # Data Bytes Format Units Offset 1 Sync 3 cha r 0 (header) Checksum 1 cha r 3 Message ID 4 integer 4 Message byte coun t 4 integer 8 2 Week number 4 integer weeks 12 3 GPS time into t[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 207 RTKOA/B RTK Solution Parameters RTK This is th e “RTK outp ut” log, an d it co ntains m iscellaneous information regarding the RTK solution. It i s based o n the matched updat e. Note that the length of the log messag es will vary depending o[...]

D Logs su mmar y 208 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 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[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 209 T able D-8 Ambiguity Types T able D-9 Sear cher St atus T able D-10 R TK 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 intege[...]

D Logs su mmar y 210 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RVSA/B Receiver Status This log conveys various status parameters of the receiver system. If the system is a multiple-GPSCard unit with a master card, certain param eters are repeated for each individual GPSCard. If the system is composed o f onl[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 211 RVSB Format: Message ID = 56 Message byte count = 28 + (8 x n umber of cards) NOTE: For F ield 9, sel f-test b its 2, 3, 4, 6, & 7 are set only once (when the GPSCard is fi rst po wered up). All other bits are set by internal test processes e[...]

D Logs su mmar y 212 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SA T A/B Satelli t e Specif ic Data This log provides sat ellite sp ecific data for satellites actu ally be ing tracked. Th e record length is variable and depend s o n the numb er of s a tellites . Each satellite being tracked has a reject code [...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 213 SA TB Format: Message ID =12 Mes sage byte count = 32 + (obs*32) T able D -1 1 GPSCard Range Reject Codes Field # Da ta 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 W[...]

D Logs su mmar y 214 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SBT A/B SATELLITE BROADCAST DATA: RAW SYMBOLS This mess age contains the satellite broadcast data in raw symbols before FEC decoding or any other processing. An individual messag e is sent for each PR N b e in g tracked. For a given satel lite, t[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 215 SPHA/B Speed and Direction Over Ground This log provides the actual speed and directio n 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 noted that the GPSCard [...]

D Logs su mmar y 216 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections When combined with a RG EA/B/D log , this data set contains all of the deco ded satellite information necessary to compute the solut ion : satellite coordinat es ( ECEF WGS84 ), satellit[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 217 SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68 ) Field # Data Bytes Forma t 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 Week number 4 integer weeks 12 3 Ti me i [...]

D Logs su mmar y 218 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 TM1 A/B Ti me of 1PP S This log provid es the time of the GPSCard 1P PS, normally high, active low pulse (1 milliseco nd), where falling edge is reference , in GPS week number and seconds into the week. The TM1A/B log follows a 1 PPS pulse. I t a[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 219 VERA/B Receiver Hardware and So ftware V ersion N umbers This log cont ains the current hard ware type and software version numb er for the GPSCard. Together with the RVSA/B log, it su persedes the RC SA/B log. VERA Structure: Example: $VERA,853,[...]

D Logs su mmar y 220 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 VLHA/B Velocity , Latency , and D irection over Grou nd This log is similar to the SPHA / B message. As in the SPHA / B messages the actual speed and direction of the GPSCard antenna over ground is provided. The VLHA / B differs in that it provid[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 221 VLH B Format: Message ID = 34 Message byte coun t = 72 T abl e D-12 G PSCar d V elocity Status Field # Data Bytes Form at Units Offset 1 Sync 3 char 0 (header) Chec ksum 1 char 3 Message ID 4 integer 4 Message byt e count 4 int eger 8 2 Week numb[...]

D Logs su mmar y 222 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 W ALA /B W AAS Alma nac WAAS Structure: *Exampl e: $WALA,981,447490.88,981,447360,122,0,0,2.57894000E+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 d[...]

D L ogs summ ary MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 223 WA L B Format: Message ID = 81 Mess age byte count = 92 T able D -13 Health and Status Bits *Note: Read the binary output f r om the Health field from ri ght to left. The first bit to the right, t he least significant bit, is bit 0 and so on to t[...]

D Logs su mmar y 224 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 WRCA/B Wide Band Range Cor rection (Gr ouped Format) This message contains the wide band ran ge correction data. A correction is generated for each PRN being track ed and these group togeth er into a single log. Internally, th e correction for ea[...]

E C omparis on Of R T-2 And RT-20 MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 225 E COM PARISON OF RT -2 AND RT -20 E.1 RT-2 & RT-20 PERFORM ANCE RT-2 and RT- 20 are real-time kin ematic software prod ucts developed by NovAtel. They can only be used in conjunction with No vAtel GPS receivers. A quick co mp[...]

E C ompa rison Of R T-2 And RT-20 226 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 RT -2 P erformance The RT-2 software provides the accuracies shown in Table E-3 & Figure E -1 (static mode) and Table E-4 & Figure E-2 (kinematic mode) for “typical” multip ath, ionospheric, tropospheric, and ephe mer[...]

E C omparis on Of R T-2 And RT-20 MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 227 Figure E-1 Typical RT-2 Hor izontal Conver gence - Stat ic Mode Figure E-2 Typical RT-2 Horizontal Convergenc e - 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 [...]

E C ompa rison Of R T-2 And RT-20 228 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 For baselines under 30 km long , the RT-2 solution shows two p ronounced steps in accuracy converg ence; these correspond to the single-point s olution switch ing to the floatin g ambiguity solution wh ich in turn sw itches to th[...]

E C omparis on Of R T-2 And RT-20 MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 229 T a ble E-6 RT -20 Performance Figure E-5 Typical RT-20 Convergence - Static Mode Tracking Time (sec) Mo de 1 Da ta Delay ( sec) Distance (km) Accuracy (C EP) 1 - 180 Static 0 1 100 to 25 cm 180 - 3000 Static 0 1 25 to 5 cm > [...]

E C ompa rison Of R T-2 And RT-20 230 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Figure E-6 Typical RT-20 Convergence - Ki nematic Mode Figure E-7 shows the performa nce of the RT - 20 syst em runni ng with RTCM59 corrections received at a 1/2 Hz rate. Figure E-7 RT-20 Steady State Performance 0 0. 2 0. 4 0. [...]

E C omparis on Of R T-2 And RT-20 MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 231 E.2 PERFORMAN CE CONSIDER ATIONS When referr ing to the “perfor mance” of RTK software, two factors are introduced : 1. Baseline leng th : the position estimate becomes less precise as the baseline leng t h increases. Note th[...]

E C ompa rison Of R T-2 And RT-20 232 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 and reference mod el information is lost . The timeout thres hold for RTK differential corrections is 30 seconds, but for Type 1 pseudorange corrections, the timeout is 60 seconds. Therefore, when the RT - 20 can no longer functi[...]

F Standa rds and R eferen ces MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 233 F S TANDARDS AND REFERENCES RTCM STANDARD S REFERENCE For detailed specificatio ns of RTCM , refer to RTCM SC104 Vers ion 2.1 of "RTCM Recommen ded Standards For Differential NAVSTAR GPS Service", January 3, 1994 Radio Tech[...]

G G eodet ic Datums 234 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 G GEODETIC DATUMS The following tables cont ain the internal ellipso id parameters and transformatio n parameters used in the GPSCard. The values cont ained in th ese tables were derived from the following DMA technical reports: 1. TR 8350.2 D[...]

G G eodetic D atums MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 35 17 GRB3 6 375 -111 431 Great Br itain 19 36 (Or dinance S urvey) Airy 18 30 18 GUAM -100 -248 259 Guam 1963 (Gu am Isl and) Clarke 1866 19 HAWA II 89 -279 -1 83 Hawa iian Ha waii (O ld) Inte rna tion al 192 4 20 KAUA I 45 -290 -1 72 Hawa iian[...]

H Some C ommon U nit Conv ersions 236 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 H SOME COMMON UNIT CONVERSIONS Section H.1 to H.4 list common ly used equiv alents between the SI (Système Internation ale) units of weig hts and measures used in the metric system, and those used in the imper ial system. A co m[...]

H Some Commo n Unit C onver sions MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 37 H.6 GP S TIME OF WEEK TO CAL ENDAR DAY (EXAMPLE) 511200 seconds Day 5112 00 / 864 00 seconds per day = 5 .916666 667 days Hour .91666666 7 x 86400 / 36 00 seconds per hour = 22 .0000 hours Minute .000 x 360 0 / 60 second s per m[...]

I Informati on Mes sages 238 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 I INFORMATION MESS AGES TYPE 1 INFOR MATION MESS AGES 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 ypes !MSGA Exampl e: [...]

I Inf ormation Mess ages MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 39 Ta b l e I - 2 Ty p e 1 ! M S G A Ty p e s TYPE 2 INFORMAT ION MESSAG ES The following is a list of in formatio n messages w hich are generated by th e C ommand Interpreter in res pon se to a user’s input. This lis t is not necessarily[...]

I Informati on Mes sages 240 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Invalid Cha nnel Numb er An invalid cha nnel number has bee n entered in a comma nd such as ASSIGN. Invalid Coa rse Modulus F ield The coarsemod argument of the FREQUENCY_OUT co mmand is invalid. Invalid Com mand CRC The r eceived comma n[...]

I Inf ormation Mess ages MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 41 Invalid Parity Option The parity in a COMn c ommand is inv alid. Invalid Port The p ort in a SEND c ommand is inv alid. Invalid Port number The p ort number in an ACCEPT c ommand is inv alid. Invalid PPS Modulus Field The ppsmod argument[...]

J Listi ng Of T ables 242 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 J LISTING OF T A BLES This section is provided for ease of re ference. The tables r eproduced are a s follows: 1-1 GPSCard Pseudorange Differential In i tialization Summary 1-2 Latency - Ind u ced Extrapolation Error 2-1 Comman ds Table 2-2 [...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 43 T able 1 -1 GPSCar d Pseudorange Differential Initialization Summary T able 1-2 L atency-Induced Extrapolation Error T able 2-1 Commands By Function T able Reference Stati on Remote Station Requ ired : FIX POSI TION lat lo n hgt id (hea lt[...]

J Listi ng Of T ables 244 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 1 Intended for advanced users of GPS only . 1 Intended for a dvanced users of GP S onl GENERAL RECEIVER CONTROL AND STATUS Comm ands Descriptions $ALM A Downlo ad alman ac dat a fi le CRESET Reset rec eiver to fa ctory defau lt DYNAMICS Set [...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 45 SATELLITE TRACKING AND CHANNEL CONTROL Comman ds Descriptions $ALMA Do wnload almana c data file ASSIGN Satellite channel assign ment CONFIG Switches the channe l c onfi gu ratio n of th e GPSCard DYNAMICS Set s cor relat or trac king band[...]

J Listi ng Of T ables 246 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T able 2-2 GPSCard Command Summary Comma nd Description Syntax $ALMA Injects almanac (follow s NovAte l ASCII log for mat) $IONA Injects ionosphe ric refr action correct ions (follows N ovAtel AS CII log forma t) $PVA A Inject s lates t comp[...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 47 RTCM16T E nter a n ASC II tex t mess age to be s ent out i n the RTCM data stream rt cm16t as cii mes sage RTCMRUL E Set vari ations of the R TCM b it rule r tcmrul e rule RTKM ODE Set up the RTK mode rrtkmo de argument, dat a range SAVE A[...]

J Listi ng Of T ables 248 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T able 3-1 Logs B y Function T able COMMUNICATIO NS, CONTROL AND STATUS Logs Descriptions CDSA/B COM port communications status COM1A/B Log data from COM 1 COM2A/B Log data from COM 2 COMnA/B Pass-through data logs RCSA/B R ec eiver self- t [...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 49 WAYPOINT NAVIGATIO N Logs Descriptions GPRMB NMEA, wayp oint status GPRMC NMEA, naviga tion i nform ation GPVTG NMEA, track made good a nd speed GPZ TG NMEA, time to destinatio n MKPA/B Posi tion at ti m e of mar k inp ut NAVA/B Navi gatio[...]

J Listi ng Of T ables 250 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T a ble 3-2 G PSCard Log Summary Note A/ B/D: A refers to GPSCard output logs in ASCII format. B refers to GPSCard output logs in Binary form at. D refers to GPSCard output logs in compressed binary format. CLOCK INFORMATION, STATUS, AND TIM[...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 51 T able 4 -1 Positioning Modes T able C-1 Antenna LNA Power Configuration T able C-2 D efault Values of Process Noise E lements T able C-3 V ARF Range (Software Version 4.42 or higher) Reference sta tion: L1 RTCM Type 59N Reference sta tion[...]

J Listi ng Of T ables 252 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T able D -1 GPSCard Solution Status T able D-2 Position Ty pe T able D-3 RTK Status for Position T y pe 3 (RT -20 ) Value Description 0 Solution c omputed 1 Insufficien t observations 2 No convergenc e 3 Singular A T PA M atrix 4 Covaria nce[...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 53 T able D-4 RTK Status for Position T ype 4 (RT -2) T able D- 5 Receiver S elf-Test Status Codes Status Definit ion 0 Narrow lane s olution 1 Wide lane derived sol ution 2 Floating am biguity soluti on (converged) 3 Floating am biguity solu[...]

J Listi ng Of T ables 254 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Notes on Table D-5: 1. Bit 3: On OEM GPSCards, “ROM” includ es all forms of non-volatile mem ory. 2. Bits 12- 15: Flag is reset to 0 five minutes af ter the last ov errun/overload cond ition has occurred. T able D-6 Range Record Format ([...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 55 5 6 Only bits 0 - 23 are represented in the RGED log T a ble D-7 Channel Tracking Status Code RGE D 0 0.000 to 0. 050 1 0.051 to 0. 075 2 0.076 to 0. 113 3 0.114 to 0. 169 4 0.170 to 0. 253 5 0.254 to 0. 380 6 0.381 to 0. 570 7 0.571 to 0.[...]

J Listi ng Of T ables 256 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Table D-7 is referenced by the ETSA/B, and R GEA/B/D logs . Table D-7 , Bits 0 - 3: Channel Tracking State Table D-7, Bits 12-14 : Correlator Spac ing State De scription State Description 0 L1 Idle 6 L1 Steering 1 L1 Sky search 7 L1 Frequenc[...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 57 T able D-8 Ambiguity Types T able D-9 Sear cher St atus T able D-10 R TK Status Ambiguity Typ e Definition 0 L1 only flo ating 1 Wide lane fixed in teger 2 Reserved 3 Narrow lan e float ing 4 Iono–free floa ting 5 Reserved 6 Narrow lan e[...]

J Listi ng Of T ables 258 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 T a ble D-1 1 GPSCard Range Reject Codes T able D-12 GP SCard Velocity Status T able E-1 Comparison of RT -2 and RT -20 . Value Descrip tion 0 Observatio ns are good 1 Bad satell ite hea lth is in dicated by ep hemer is data 2 Old ephem eris[...]

J L isti ng Of Table s MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 59 T a ble E-3 RT -2 P erformance: S tatic Mode T able E-4 RT -2 Per formance: Kinematic Mode T able E -5 RT -2 Degrada tion With Respect To Data Delay 1 T a ble E-6 RT -20 Performance Baseline length Time sin ce L2 lock-on with at l east 6 s[...]

K G PS Gl ossary of Ter ms 260 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 K GPS Glossary o f Terms ASCII — A 7 bit wide serial co de d escr ibing numbers, upper and lower case characters, special and non-printing characters. Address field — for sentences in the NMEA standard, the f ixe d len gth field fol[...]

K G PS Glossary of Te rms MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 61 Coarse Acq uisition (C/ A) Code — a spread spectrum direct sequ ence code that is used primarily by commercial GPS receivers to d etermine the range to the transmitting GP S satellite. Uses a chip rate of 1.023 MH z. Commun icati on p[...]

K G PS Gl ossary of Ter ms 262 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Doppler aidin g — a signal processing strategy, which uses a measured Doppler shift to help a receiver smoothly track the GPS signal, to allow mor e precise velocity and position measurement. Double-Difference — a position estimatio[...]

K G PS Glossary of Te rms MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 63 Geostatio nary — a satellite orbit alon g the equato r that resul ts in a con stant fixed position over a part icular reference point on the earth’s surface. (GPS satellites are not geostationary.) Glob al Posit ioning Sy stem ( GPS[...]

K G PS Gl ossary of Ter ms 264 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Magn etic h eadi n g — heading relative to magnetic north. Magnetic variation — the angle between the magnetic and geographic meridians at any place, expressed in degrees an d minutes eas t or west to indicate the direction of magne[...]

K G PS Glossary of Te rms MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 65 Precise Positioning Service (PPS) — the GPS positio ning, ve locity, and time serv ice which w ill be availab le on a continuo us, worldwide basi s to users autho rized by the U.S. Department of Defence (typically using P -Co de ). PR[...]

K G PS Gl ossary of Ter ms 266 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 Selective Availability (SA) — the method used by the United States Department of Defence to control access to the f ull accuracy achievable by civilian GPS equipment (generally by introducing timing and ephemeris errors). Sequential r[...]

K G PS Glossary of Te rms MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 67 Universal Time Coo rdinated ( UTC) — this time s ystem uses the second-defined true angular rotation of the Earth measured as if the Earth rotated abou t its Conventio nal Terrestrial Pole. However, UTC is adjusted only in increm ents[...]

L GPS Glo ssary of Acrony ms 268 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 L GPS GLOSSARY OF ACRONYMS 1PPS One Pulse Per Second 2D Two Dimensional 2DRMS Twice dis tance RMS 3D Three Dimensional A/D Analo g-to-Digital ADR Accumulated Doppler Range AGC Auto m atic Gain Cont rol ASCII American Standard Code for[...]

L GPS Glossa ry of Acro nyms MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 69 LHCP Left Hand Circular Polarization LNA Low Noise Amplifier LO Local Os cillato r lsb Least significant bit MET Multipath Eliminatio n Technolog y MEDLL Multipath Estimation Delay Lock Lo op MKI Mark In MKO Mark Out MSAS Mul ti-Func[...]

M Index 270 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 M INDEX Numeric s 1PPS 33, 8 3, 128, 220 2D 97, 263, 268 2D mode 26, 9 7, 163, 246 2DRMS 270 3D 263–264 , 268, 270 3D mode 163 A acceptance 79 accumulated Dopp ler 55, 194, 200, 25 6 acquisit ion 82, 262– 263, 265 age of differential co rrections 183,[...]

M Index MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 71 numbe r 2 42 state 82 , 194, 226 tracking 82, 155, 201, 258 channels 32 , 129, 155, 191, 2 10, 264, 266– 268 channels (n umber of) 191 chatter 31 , 44 checksum 2 4, 33, 35, 47, 50, 51, 56 , 191, 214, 215, 241, 262, 26 4, 266 clock 33 , 37, 42, 5 3 , 56[...]

M Index 272 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 cut-off 88 angle 93 ellipso id 19, 32 , 52, 117, 126, 130, 1 33, 176, 181, 205, 236, 2 65, 268, 2 69 ell i ps oi dal da tum 1 3 3 ephemerides 62 , 63 ephemeris 32, 46, 51, 55, 63, 68, 70 , 90, 187, 192, 22 8, 233, 268 error message 43 , 79, 108 errors 17,[...]

M Index MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 73 errors 2 27 K kinematic 20, 36, 58 , 66, 71, 76, 1 18, 232, 2 65, 271 L latched time 171 latency 17, 20, 36 , 53, 67, 72, 179, 205, 222, 230, 234, 245, 26 5 latit ude 62, 71, 98, 117, 158, 160, 161, 167, 178, 263–266 L-band 63 LNA 81 , 19 7 lockout s a[...]

M Index 274 MiLLenni um GP SCard S oftware Version 4 .50 Comm and Des cripti ons M anual Rev 1 polarit y 73 poor rece ption 75 port 242 positi on constrai nts 131 processing 50, 63, 64, 66 , 79, 155, 193, 198 , 264, 267 propagation 68, 73, 75 , 78 pseudorang e 36, 50, 53 –55, 56, 59, 65–7 4, 77, 88, 97, 98, 125, 164, 1 79, 193, 197, 218 , 228, [...]

M Index MiLLenni um GPSC ard S oftware Ve rsion 4 .50 Comm and Des criptions Manu al Rev 1 2 75 statio n ID 19, 48, 98, 123, 203 subframes 3 2 , 136, 186, 192 SV health 159 T tag 11, 42, 44, 56, 58, 61 , 79, 141, 166, 17 9, 203, 222 TCXO 68 TDOP 153, 2 63, 265, 268 track made go od 167, 16 8, 263, 26 8 offset 12 6, 243 over grou nd 217, 222 trackin[...]

OM-200 00041 Rev 1 9 8/11/03[...]