Novatel Software Version 4.45 OM-20000026 Rev 1 manual

MiLLennium TM GPSCard GPSCard™ Products NovAtel Inc. Software Version 4 .45 OM-200000 26 Rev 1 Comman d Desc riptio ns Ma nual[...]

Table o f Content s MiLLen nium Co mmand Descriptions Ma nual iii T AB L E O F C O NT E NTS 1 Quick Star t 1.1 Ins t a l l a t i on .. . . . . .. . .. . .. . . . .. . . . . .. . . . . .. . .. . .. . .. . .. . .. . . . . .. . . . . . . .. . .. . .. . .. . . . . .. . . . . .. . . . . .. . .. . .. . . . .. . . . . .. . . . . . . . .. . .. . .. . .. . [...]

Table of Co ntents iv MiLL ennium Comma nd Descrip tions Man ual 7 RINE X -Stan d ard Com m ands & Lo g s 7 . 1 C o mm a nd s . . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . . . . .. . .. . .. . .. . .. [...]

Table o f Content s MiLLen nium Co mmand Descriptions Ma nual v LOCKOUT .. . .. . . . .. . .. . . . . .. . .. . . . . .. . .. . .. . .. . .. . .. . .. . . . . . . .. . .. . .. . .. . .. . .. . .. . . . . .. . .. . .. . . . .. . .. . .. . .. . . . . .. . .. . .. . .. . .. . . . . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . 9 0 LOG . .. . .. . .[...]

Table of Co ntents vi MiLLenn ium Comma nd Descrip tions Man ual R B TA / B . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . ..... . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . . 1 7 2 R CC A . .[...]

Table o f Content s MiLLen nium Co mmand Descriptions Ma nual vii FIGURES 5-1 Pass-Thr ough Log Data ....................... ............................. ........................ ......................... ..... ... ...... ... ... ..... ... ... ...... ... ... ... 31 A-1 NAVSTAR Satellite Orbit Arrange m ent .........................................[...]

1 Quic k Start MiLLen nium Co mmand Descriptions Ma nual 1 1 QUICK STA RT This chapter is dedicated to getting you started. Y ou may wish to carry out Real- Time K inem atic (R TK) positioning, operate in Differen tial m odes or simply log data. Where to get fu rther information is ref erenced after each of these sections. 1.1 INSTALL ATION For mor[...]

1 Quick Start 2 M iLLenn ium Com man d Descrip tions Man ual e.g. On th e command line of the Comm and C onsole s creen type: log com1 posa once After you hit the <En ter> key the ASCII Record screen w ill display the output for your cu rrent position . See the POSA / B log description in Appendix D . 1.2 DATA LOGG ING The GPSC a r d has four[...]

1 Quic k Start MiLLen nium Co mmand Descriptions Ma nual 3 Example: log com1,posa,ontime,60,1 If th e LOG syntax does not include a trigger type, it will be ou tput only once foll owing execution of the LOG command. If tri gger type is specified in the LO G syn tax, the log will continue t o be output bas ed on the trigger specification. Specifi c [...]

1 Quick Start 4 M iLLenn ium Com man d Descrip tions Man ual Furth er inform ation may be foun d in Appendix A. Table 1-1 , following, is a GPSCard pseudorange diffe rential initi alization s ummary. T able 1-1 GPSCa rd Pseudora nge Differential Initialization Summary Initial iz ation - Re fer enc e Stati on Differential mode of operation is esta b[...]

1 Quic k Start MiLLen nium Co mmand Descriptions Ma nual 5 NOTES: Entry of the statio n ID and health are optional The accuracy of the reference station’s FIX POSITION setting will directly affect the accuracy of its computed differential corrections. Good results at the rover statio n are dependent on the reference st ation’s co mbi ned positi[...]

1 Quick Start 6 M iLLenn ium Com man d Descrip tions Man ual • An R TCAO BS message contains reference station satellite observation in form ation, and should be sent once every 1 or 2 seconds. • An R TC AREF mess age con tains referen c e station position inf ormation , and shou ld be sent once every 10 seconds. 2. R T-20 requires that t he re[...]

1 Quic k Start MiLLen nium Co mmand Descriptions Ma nual 7 log com1,rtcaref,ontime,10 log com1,rtcaobs,ontime,2 2. At the re m ote station: accept com n ,rtca Example: accept com2,rtca Congratu lations! You r RTK sy stem is now in operation! INITIALIZATION FOR R TCM-FORMAT MESSAGING (R T -2 0 ONLY) Although RT-20 can operate wi th either RTCA or RT[...]

1 Quick Start 8 M iLLenn ium Com man d Descrip tions Man ual to collect updated ephemeris data as well. A delay of 120 to 130 seconds will typically ensure that the rover stations have collected updated ephemeris. After the delay period is passed, the ref erence stati on will begin using n ew ephemeris data. To enter an ephemeris delay value, you m[...]

1 Quic k Start MiLLen nium Co mmand Descriptions Ma nual 9 to generate, pr ocess and decode. The RTCA messages are therefore smaller, they have a 24 bit CRC that is much more robust than RTCM messag es, and they permit the use of a four-alph a-character station ID. RTCA Standard logs can be received t hrough the COM1 or COM2 port of t he rover GPSC[...]

2 Com mand De scriptions 10 MiLLenni um Comm and Descriptions M anua l 2 COMMAND DE SCRIPTIONS 2.1 GENERAL This section describes all commands acc epted by the GPSCard wit h the exception of the "Special Data Input Commands". The y are listed in alphabetical order. For descriptions of output logs using the LOG com mand, see Chapter 4 . Th[...]

2 Com mand De scription s MiLLen nium Co mma nd Descriptio ns Manual 11 2.2 COMMAND T ABLES Table 2- 1 lists t he comman ds by function while Table 2-2 is an alpha betical listin g of com mands. Please see Appen dix C for a m ore detailed description of individual commands w hich are listed al phabetically . T able 2-1 Commands By Function T able ?[...]

2 Com mand De scriptions 12 MiLLenni um Comm and Descriptions M anua l Table 2-1 Commands By Function Table (continued) ➀ Intended for advanced users of GPS only SATELLITE TRACKING AND CHA NNEL CONTROL Comm ands Descriptio ns $AL MA Do wnl oa d al mana c d at a file ASSI G N Sa tellite c hanne l assig nment CONFIG Swi tches the ch annel co nfigur[...]

2 Com mand De scription s MiLLen nium Co mma nd Descriptio ns Manual 13 T able 2-2 GPSCa rd Command Summar y Command De scription S y ntax $ALMA Injects almanac (follows NovAtel ASCII log format) $IONA Injects ionospheric refraction corr ections (follows NovAtel ASCII log format) $PVAA Injects latest computed position, velocity and acceleration (fo[...]

2 Com mand De scriptions 14 MiLLenni um Comm and Descriptions M anua l Table 2-2 GPSCar d Command Summary (continued) MAGVAR Set magnetic variation correction magvar value MESSAGES Disable error r eporting fro m command inte rpreter messages port,option POSAVE Implements position averaging for reference station posave maxtime, maxhorstd, maxverstd [...]

2 Com mand De scription s MiLLen nium Co mma nd Descriptio ns Manual 15 When the GPSCard is first powered up, or after a F RES ET command, all commands will revert to the factory default settings. An example is shown below . The SAV ECONFIG command can be used to modify the power-on defaults. Use the RCC A log to reference station com mand and log [...]

2 Com mand De scriptions 16 MiLLenni um Comm and Descriptions M anua l All Comma n ds: Option al calcul ation of the checksum When an input command is follow ed by an optional checksum, the check sum will be verified before the c ommand is ex ecuted. The check sum is the resu lt of the logical excl usive- OR o peration on all th e bits in the messa[...]

3 Special Dat a Input C ommand s MiLLen nium Co mma nd Descriptio ns Manual 17 3 SPECIAL DATA INPUT COMMANDS These entries are data messages that are g enerated b y one GPSCard and se nt to another. For exam ple, con sider a special configuration in which a GPSCard # 1 is able to send these data messages to a GPSCard #2 via a serial port. For GPSCa[...]

3 Special Da ta Input Command s 18 MiLLenni um Comm and Descriptions M anua l REMEMB ER: When connecti ng two GPSCard COM ports together, the MESSAGES co mmand op tion should be set to " OF F " to prevent inter-card "chatter". The MiLLennium GPSCard can log current almanac data to a PC connected to its COM1 or COM2 port. Ass um [...]

3 Special Dat a Input C ommand s MiLLen nium Co mma nd Descriptio ns Manual 19 $UTCA. .. Use this special data input command to quickly update the G PSCard U niversal Time Coordinated ( UTC ) param eters follow ing a system restart (alw ay s a ppended to $ ALMA record s unless i ntention ally stripp ed). The UT C dat a is required before the GPSCar[...]

3 Special Da ta Input Command s 20 MiLLenni um Comm and Descriptions M anua l Appendix D . An example of a $ REPA da ta m e ss a ge is as follo ws: $REPA,14,8B09DC17B9079DD7007D5DE404A9B2 D04CF671C6036612560000021804FD, 8B09DC17B98A66FF713092F12B359DFF7A02540 88E1656A10BE2FF125655, 8B09DC17B78F0027192056EAFFDF2724C9FE159 675A8B468FFA8D066F743*57[CR[...]

3 Special Dat a Input C ommand s MiLLen nium Co mma nd Descriptio ns Manual 21 $TM1A /B Rec eive r Time of 1PPS The $ TM1A and TM1B data messages can be use d to time-s ynch ron ize m ultiple receivers which are all referencin g the same external oscillator. First, en sure that SETTIMESYNC is enabled. Next, the pr imary unit must be se nding its 1P[...]

4 Data Lo gs 22 MiLLenni um Comm and Descriptions M anua l 4 DATA LOGS 4.1 OUTPUT LOGGING The GPSCa rd provides versat ility in you r logg ing re quirements . You can direct you r logs to ei ther COM1 or CO M2 , or both ports, as w ell as com bine data types. The GPSCard has four ma jor logging format s: • NovAtel Format Data L ogs (ASCII/Binary)[...]

4 Data Logs MiLLen nium Co mma nd Descriptio ns Manual 23 by usin g the UNLOGALL com man d (se e Chapter 2 and Append ix C ). All activated logs will be lis ted in the receiver configuration status log ( RCCA ). 4.2 No vAte l FORMAT DATA LOGS Gene r al The GPSCar d is capable of executing mo re than 40 NovA tel form at log com mands. Each log is s [...]

4 Data Lo gs 24 MiLLenni um Comm and Descriptions M anua l The follow ing table describes th e format ty pes u sed in the desc ription of binary logs. Each by te with in an int has its own address, and the s m alles t of the addresses is the addre ss of t he int. The byte at this lowest address contai ns the eight least s ignificant bits of the dou[...]

4 Data Logs MiLLen nium Co mma nd Descriptio ns Manual 25 4.4 NMEA FOR MAT DATA LO GS Gene r al The NMEA log structu res follow form at stan dards as adopted by the Nation al Marine Electronics A ssociation. The reference document used is "Standard For Interfacing Marine Electronic Devices NMEA 0 183 Version 2. 00". For further inform ati[...]

4 Data Lo gs 26 MiLLenni um Comm and Descriptions M anua l 4.5 GPS T IME VS LOCAL RECEIVER TIME All logs report GPS time exp ressed in GPS weeks and seconds into the week. The t i me repo rted i s no t co rrected fo r local receiver clock error. To derive the closes t GPS ti m e, one must subtract the clock offset shown in the CLK A log (field 4) f[...]

4 Data Logs MiLLen nium Co mma nd Descriptio ns Manual 27 Table 4-1 Logs By Function Table (c ontinued) SATELLITE TRACKING AND CHA NNEL CONTROL Logs Description s ALMA/B Current deco de d a lm anac data DOPA/ B DOP of SVs c urrent ly trac king ETSA/ B Provides cha nnel tra cking status infor mation for e ach of the GPSCard parallel channels GPALM N[...]

4 Data Lo gs 28 MiLLenni um Comm and Descriptions M anua l ➀ Intended for advanced users of GPS only . T able 4-2 GPSCa rd Log Summary Table 4-1 Logs By Function Table (continued) POST PROCESSING DATA Logs De scriptions BSLA/B Most re cent matche d baselin e expressed in ECE F coords. C LKA/B R eceive r cloc k offset i nformat ion REPA /B R aw ep[...]

4 Data Logs MiLLen nium Co mma nd Descriptio ns Manual 29 N.B. A /B/D: A refers to GPSCard output lo g s in ASCI I format . B refers to GPSCard output lo g s in Bina ry format. D r e fers to GPSCard output lo g s in compress ed binary forma t. T able 4-2 GPSCar d Log Summary (continued) NME A Format Logs GPALM Almanac Data GPGSV GPS Satellites in V[...]

5 Special Pa ss-Through Logs 30 MiLLenni um Comm and Descriptions M anua l 5 SPECIAL PASS-THROUGH LOGS The pass-through logging feat ure enables the G PSCard to redirect any ASCII or binary data that is i nput at a specified po rt ( COM1 or COM2 ) to any specified GPSC ard port ( COM 1 or COM2 ). T his capability, in conjunction with the SEND comma[...]

5 Special P ass-Through Log s MiLLen nium Co mma nd Descriptio ns Manual 31 Figure 5-1 Pass-Through Log Data When pass-through logs are being used, t h e GPSCard's co m mand interpreter continues to monitor t h e port for valid input commands and replies with error messages w hen the data is not recogn ized as such. If you d o not want the pas[...]

5 Special Pa ss-Through Logs 32 MiLLenni um Comm and Descriptions M anua l 5.2 ASCII LOG STRUCTU RE Exam pl e 1: $COM1,747,347131.23,$TM1A,747,347131.000000000,0.000000058,0.00000 0024, -9.000000009,0*78<CR>*2E[CR][LF] $COM1,747,347131.31,<LF>*4F[CR][LF] $COM1,747,347131.40,Invalid Command Option<LF>*7C[CR][LF] $COM1,747,347131.42[...]

5 Special P ass-Through Log s MiLLen nium Co mma nd Descriptio ns Manual 33 Example 1b: $COM1,747,349005.18,<AA>D<DC1>k<ETX><NUL><NUL><NUL> 4<NUL><NUL><NUL> <EB><STX><NUL><NUL><FE>3M<NAK>A<VT><83><D6>o<82><C3 >Z<BE><FC>[...]

6 Message Forma ts 34 MiLLenni um Comm and Descriptions M anua l 6 MESSAGE FORMATS In a N ovAtel RTK p ositioning sy stem , the observations transmi tted by a NovAtel reference station t o a NovA tel remote station can be in either a proprietary RTCA Type 7 or a proprietary RTCM Type 5 9N message format. Table 6-1 illustrates the various co mbi nat[...]

6 Message Format s MiLLen nium Co mma nd Descriptio ns Manual 35 RTCAREF TYPE 7 An RTCARE F (RTCA Reference Stat ion Position Inform ation) message cont ains r eference station posi tion information, and should be sent once every 10 seconds. Each message is 24 bytes (192 bits) long. If RTCA-format messaging i s being used, the optional station id f[...]

6 Message Forma ts 36 MiLLenni um Comm and Descriptions M anua l This messag e was designe d so that RTCA data can be intermixed with other NovAtel AS CII data ove r a common communications port. The log is not i n pure RTCA form at. The header ( $RTC A ) and term inator (*xx) must be stripped off at the receiving end, then the data will need to be[...]

6 Message Format s MiLLen nium Co mma nd Descriptio ns Manual 37 positioning alg orith m would be used. This is for a system in which b oth th e reference an d rem ote stat ions u tilize NovAtel receivers. Note that the error-detection capability of an RTCM- format messag e is less t han that of an RTCA-form at mess age. The communications equipmen[...]

6 Message Forma ts 38 MiLLenni um Comm and Descriptions M anua l RTCM Gene ral Me ssage Format All GPSCa r d RTCM st andar d fo r m at l o gs adhere t o the structure reco m mende d b y RT C M S C - 1 0 4. Th u s , al l R T CM mes s ag e a r e co m po s e d of 30 bit words. Each word conta i ns 24 data bit s and 6 p arity bit s . All R T C M m es s[...]

6 Message Format s MiLLen nium Co mma nd Descriptio ns Manual 39 text can be transmitted as a NovA tel Format ASCI I log by utilizin g the "LOG port RTCM16T" co mmand. Syntax: Example: rtcm16t This is a test of the RTCM16T Speci al Message. R TCM Sta nda rd Lo gs The NovAtel logs which i mplem en t the R TCM Stan dard Format for Type 1, 3[...]

6 Message Forma ts 40 MiLLenni um Comm and Descriptions M anua l ASCII The format of the Nov Atel ASCI I version of an RTCM log is as follow s: Struct ure: Exam pl e : $RTCM3,597E7C7F7B76537A66406F49487F797B627A7A5978634E6E7C515544494 6*68[CR][LF] BINARY The format of the NovAtel binary version of an R TCM log is as f ollows : R TCM O R R TCM1 This[...]

6 Message Format s MiLLen nium Co mma nd Descriptio ns Manual 41 RTCMA or RTCM1A This log contains the s ame data available in the RTCM Standard Format Type 1 messages, but has been modified to allow flexibility i n using the RTCM data. The RT CM data has b een reformatted to be a vailable in ASCII hexadecimal , utilizi ng a NovAtel h eader and ter[...]

6 Message Forma ts 42 MiLLenni um Comm and Descriptions M anua l 567C7F5B69796F40547F73595557555546*51[CR][LF] RTCM1B Message ID = 10 Message byte count = variable R TCM3 REFERENCE STATION PARAMETERS RTK This log contains the GPS position of the reference station express ed in rectangular ECEF coordinates based on the center of the WGS84 ellipsoid [...]

6 Message Format s MiLLen nium Co mma nd Descriptio ns Manual 43 Type 9 mess ages con tain t he fol lowing in form ation for a group of three satellites in v iew at the reference station: • Scale factor • User Differential Range Error • Satellite ID • Pseudorange cor rection • Range-rate correction • Issue o f Data (IOD) RTCM9A Example:[...]

6 Message Forma ts 44 MiLLenni um Comm and Descriptions M anua l R TCM59 T YPE 59N-0 NOVATEL PROPRIE TARY MESSAGE RTK RTCM Type 59 messages are reserve d for proprietary use by RTCM re ference station operators. Each message is variable in length, li mited only by the R TCM maximum of 99 0 data bits (33 words maximum). The first eight bits in the t[...]

7 Rinex-Stand ard Comma nds & Logs MiLLen nium Co mma nd Descriptio ns Manual 45 7 RINEX-STANDARD COMMANDS & LOGS The Receiver-In dependen t Exchang e (RINEX) format is a broadly -accepted, receiver-indepen dent form at for storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data generate[...]

7 Rin ex-Stan dard Comm and s & Logs 46 MiLLenni um Comm and Descriptions M anua l 7.1 COMMANDS RINEX This com mand is used to config ure the us er-defined fields in th e file headers. The settings of all these fields are visible in the RC CA log. All setting s can be save d to non-v olatile memory on a MiLLenniu m card by the SAVECONFIG com ma[...]

7 Rinex-Stand ard Comma nds & Logs MiLLen nium Co mma nd Descriptio ns Manual 47 Note that the RC CA log sh ows any non -defaul t RINEX settings. 7.2 LO GS RINEX Observ atio n an d Na vigati on Logs an d Hea der s This pseudo - log ty pe exis ts to sim plify the commands for the user. For exam ple, at the comman d COM1> log com2 rinex ontime[...]

7 Rin ex-Stan dard Comm and s & Logs 48 MiLLenni um Comm and Descriptions M anua l XNHD Navi gati on He ader This log consis ts of a RIN EX-format header for b roadcast navigation message files. It can be generated at any point, using a com mand such as COM1> log com2 xnhd or it w ill be generate d automatically wh en logg ing is com plet e,[...]

7 Rinex-Stand ard Comma nds & Logs MiLLen nium Co mma nd Descriptio ns Manual 49 Log example: $XOHD, 2 OBSERVATION DATA G (GPS) RINEX VERSION / TYPE*50 $XOHD,NovAtel GPSCard NATIVE 96-04-10 16:04 PGM / RUN BY / DATE*02 $XOHD,Field trial of new receiver COMMEN T*08 $XOHD,A980 MARKER NAME*62 $XOHD,980.1.34 MARKER number*11 $XOHD,S.C. Lewis NovAte[...]

A GPS Overview 50 MiLLenni um Comm and Descriptions M anua l A GPS OVERVIEW The Global Position ing System ( GPS) is a satellite nav igation system capable of p roviding a hig hly accurate, continuous global navigation service independent of other positioning aids. GPS provides 24-hour, all-weather, worldwi de coverage w ith positi on, velocity and[...]

A GPS Overview MiLLen nium Co mma nd Descriptio ns Manual 51 All these parts operate together to p rovide accurate three dimens ional positioning, timing an d velocity data to users worldwide. The Space Segment The space segment is co m posed of the NAVSTAR GPS satellites . The f inal cons tellation of the system con sists of 24 satellites in six 5[...]

A GPS Overview 52 MiLLenni um Comm and Descriptions M anua l Figure A-2 Illustration of GPS Card Height Me asurements From the ab ove diag ram , an d th e form ula h = H + N, to convert heigh ts betw een the ellipsoid and geoid we require the g eoid-ellipsoid separation valu e. This value is not easy to determin e. A w orld-wide model is generally [...]

A GPS Overview MiLLen nium Co mma nd Descriptio ns Manual 53 Figure A-3 A ccuracy versus Pre cision 4 Singl e-p oint vs. Rela tive Pos itio nin g In single-po int positioni ng, coordinates of a GPS receiver at an unknown location are sought with respect to the earth's reference frame b y using the known positions of GPS satellites being tracke[...]

A GPS Overview 54 MiLLenni um Comm and Descriptions M anua l Figure A-4 Example of Differential Positioning Stat ic vs. Kinemati c Po siti oning Static and kinematic position ing refer to whether a GPS receiver is stationary or in motion while collecting GPS data. Real-time vs. P ost-mission Data Proc essing Real-time or post-missi on data processi[...]

A GPS Overview MiLLen nium Co mma nd Descriptio ns Manual 55 1. The matched position s olution is com puted at the rem ote station when the o bservation information for a given epo ch has arrived fro m the reference station via the data link. Matched observation set pairs are observa tio ns by bo th th e referen ce and rem ote stations which are ma[...]

A GPS Overview 56 MiLLenni um Comm and Descriptions M anua l • Ionospheric Group Delays – The earth’ s ion ospheric layers cau se va rying degrees of GPS signal p ropagation delay . Ionization levels ten d to be h ighest during day light h ours causing propagation delay e rrors of up to 30 metres, whereas n ight tim e levels are m uch lower a[...]

A GPS Overview MiLLen nium Co mma nd Descriptio ns Manual 57 When averagin g is complete, th e FI X POSITION command w i ll aut omatically be invoked. If the maxi mum time is set to 1 hour or larger, positions will be averag ed every 10 minutes and the st andard deviations reported in the PAVA / B log s hould be correct. If the maximu m time is set[...]

A GPS Overview 58 MiLLenni um Comm and Descriptions M anua l Dual S tation Differential P ositio ning It is the ob jective of operating in differential mode to either elim in ate or greatly reduce most of th e erro rs introduced b y the above t y pes of s yst em biases. Pseudorange differential positioning is quite effective in large ly removing mo[...]

A GPS Overview MiLLen nium Co mma nd Descriptio ns Manual 59 THE REFERENCE STATION The nucleu s of the dif ferential netw ork is the referen ce station . To function as a bas e station, th e GPS receiv er antenna must be positioned at a control poin t whose position is p recisely known in the GPS reference fram e. Typically , the fix ed p osition w[...]

A GPS Overview 60 MiLLenni um Comm and Descriptions M anua l ADR do uble di ffere nce = (ADR r x A,sat i - ADR rx A,sat j ) - (ADR rx B,sat i - ADR rx B,sat j ) An ambigui ty value is estim ated for each double- difference observ ation. One satellite is comm on to every satellite pair; it is called the r eference satellite, and it is generally the [...]

B M ultipa th Eli minati on Technol ogy MiLLen nium Co mma nd Descriptio ns Manual 61 B MULTIPATH EL IMINAT ION TECHNOLOGY Multipath signal r eception is one of the most plaguing p roblems that detracts from the accuracy potential of GPS pseudorange diff erential positionin g system s. This section will provide a brief look at the pro blems of mult[...]

B Multi path Elim inatio n Technolo gy 62 MiLLenni um Comm and Descriptions M anua l obstruction and attenuation are also ve ry com mon. Conseque nces of Multipa th Receptio n Because GPS is a radio ranging and position ing s y stem , it is imperativ e that gr ound station sign al reception fro m each sat ellite be of direct lin e of sig ht. Thi s [...]

B Multipa th E liminati on Technolog y MiLLen nium Co mma nd Descriptio ns Manual 63 possible under actu al operating conditions. Try to place the antenna as far as possible fro m o bvious reflectiv e objects, especially reflectiv e objects that are above the anten na’s radiation pattern horizon. Close- in reflections will be stronger, and typica[...]

B Multi path Elim inatio n Technolo gy 64 MiLLenni um Comm and Descriptions M anua l Figure B-3 Illustration of Quadrifilar vs. Microstrip Patch Antennae Ante nna Ground P l anes Nearby ob jects can influence the radiation pattern of an antenn a. Thus, one of the roles of t he anten na ground plan e is to create a stabilizin g artificial environmen[...]

B Multipa th E liminati on Technolog y MiLLen nium Co mma nd Descriptio ns Manual 65 NovAte l’s Internal Re ceiver S olutio ns for Multipa th Re duction The multi path antenn a ha rdware solutions described in the previous pa ragraphs are ca pable of achieving vary ing degrees of multipath reception reduction. These options, howev er, require spe[...]

C Com mands Su mmary 66 MiLLenni um Comm and Descriptions M anua l C COMMANDS SUMMARY ACCEP T The ACCEPT command controls the processing of input data and is p rimarily u sed to s et the G PSC ard’s COM port command interpreter for acceptance of vario us data form ats. Each port can be controlled to allow ASCII co m mand processing (default), bin[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 67 Syntax: Example: accept com1 rtcm ACCEPT port option S y ntax R ange Value Description Defau lt ACCEPT - Command port COM1 or C OM2 Spe cifies the COM port to be controlled option NONE Turn off Command In terpreter commands (GPSCard model dependent) COMMANDS RTC A RTCM Command Inter[...]

C Com mands Su mmary 68 MiLLenni um Comm and Descriptions M anua l ANTENNAP OWER On MiL Lenniu m GPS Cards this com mand en ables or disables th e supply of electrical pow e r from the i nternal power source of the card to the low-nois e ampl ifi er (LNA) of an acti ve an ten na . Jumper P301 allow s th e user to power the LNA either by an internal[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 69 ASSI GN This command may be used to aid in the initial acqui sition of a satell ite by allow ing you to override the automatic satellite/chann el assig nment and reacquisiti on processes with manual inst ructions. Th e command specifies th at the indicated tracking channel search fo[...]

C Com mands Su mmary 70 MiLLenni um Comm and Descriptions M anua l CLOCKADJ UST All oscillators have so me inherent drift. On the MiLLennium GPSCard, the clock and the PPS strobe have a 5 0 ns jitter due to the receive r's attempts to keep the clock as close as possible to GPS time. This option is disabled by entering CLOCKADJUST DISABL E. T h[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 71 COMn This command per mits you to confi gure the GPSCard COM port' s asy n chronous drivers. Syntax: Examples : com2 19200,e,7,1,n,on,off com1 1200,e,8,1,n,on,off Note: Your GPSCard c omes configured this way. If you have different p aram eters you should reconfigure the commun[...]

C Com mands Su mmary 72 MiLLenni um Comm and Descriptions M anua l COMn _RTS This command enables versatile c ontrol of the RTS handshak e line for use with output da ta log ging in con juncti on with external devices such as a radio transmitter. The default state for the COM1 or COM2 RTS l ine is al ways high . COM n_ RTS will not influence th e C[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 73 CONFIG This com mand sw itches the channel c onfiguration of th e GPSC ard betw een pre-def ined configurat ions. When invoked, this command loads a new satellite chan nel-conf iguration and forces the GPSCard to reset. The types of configurations possible are listed by entering thi[...]

C Com mands Su mmary 74 MiLLenni um Comm and Descriptions M anua l CRESET Configuration Reset. Res ets user configuration to the factory default. After a reset, non volatile memory (NVM) is read for user configuration. This co mmand does not reset the hardware. See the Fa ctory Default S ett ings exampl e at the beginn ing of Chapter 2 . Syntax: Se[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 75 CSMOO TH T his c o mmand set s the a m oun t of car r ie r smoothing to be pe r fo r med on t he pseud o range meas ure m en t s carrie r . A n inp u t val u e o f 1 0 0 c o rrespond s t o a p pr o x i m ately 1 0 0 s ec o nds of s m o o t hi n g . Upon i ss u i n g t h e c o mma n [...]

C Com mands Su mmary 76 MiLLenni um Comm and Descriptions M anua l DA TUM This command perm its you to select the geodetic datum for operation of the receiver. If not set, the valu e is default ed to WGS84 . See Table G-2 in Appendix G for a complete listing of all available pred efined datu ms . See the USERDATUM command fo r user definable datum [...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 77 DG PSTIMEO UT This comm and has a two-fold fu nction: (1) t o set the maximum age of differential data that will be accepted when o perating as a remote station. Dif- ferential data received that is older than t he specified time will be ignored. When enterin g DGPS delay , you can [...]

C Com mands Su mmary 78 MiLLenni um Comm and Descriptions M anua l DIFF_ PROTOCOL Dif ferential P rotoco l Contro l NOTE: The DIFF _ PROTOCOL command should only b e used by advanced users of GPS . Features: 1. A user definable key su ch that m any different types of enc oding may be used in th e sam e area wi thout cross talk betw een the v arious[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 79 DYNAMICS This com mand inform s th e receiver of user dyn amics. It is u sed to optimally tune receiver parameters. Syntax: Example: dynamics foot DYNAMICS user_dynamics Command Descriptio n Default DYNAMICS C ommand dynamics user_dynamics air receiver is an aircraft land receiver i[...]

C Com mands Su mmary 80 MiLLenni um Comm and Descriptions M anua l ECUT OFF This command sets the elev ation cut -off angle for usable satellites . The G PSCard will n ot start track ing a satellite until it rises above the cu toff an gle; howeve r, if a satell ite being track ed drops below this angle, it w ill cont inue t o be tracked until the s[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 81 EXTERNALCLO CK Overv iew The EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY commands allow s t he MiLLen nium GPSCard to o perate with an option al external oscillator. The user is able to optimally adjust the clock model parameters of the GPSCard for various types of external clocks. Th[...]

C Com mands Su mmary 82 MiLLenni um Comm and Descriptions M anua l Syntax: Exam pl e : externalclock user 1.0e-20 1.0e-24 1.0e-28 T able C-2 Default V alues of Proce ss Noise E lements EXTERNALCLOCK option Command Op tion Descriptio n De fault EXTERNALCLOCK disable Revert to the on -board oscillator MiLLennium = VCTCXO see Table C-2 ocxo Set defaul[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 83 EXTERNALCLO CK FRE QUE NCY Please see the Overview an d Theory sub-sections under the EXTERNALCLOCK command to understand the steps involved in using an optional ex ternal oscillator with a MiLLennium GPSC ard. For the chosen oscillator, one must select the clock rate using the EXTE[...]

C Com mands Su mmary 84 MiLLenni um Comm and Descriptions M anua l FIX HE IG HT This command configures th e GPSCard in 2D mode with its heigh t constrained to a given value. The command would be used mainly in marine ap plications where height in relation to mean sea level may be considered to be approximately constan t. The height en tered using [...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 85 FIX P OS ITION (RTK) Invoking this command will result in the GPSC ard position being held fixed. A computation will be done to solve local clock of fset, pseudorange, and pseudorange differential corrections. This mode of operation can be used for time transfer applications wh ere [...]

C Com mands Su mmary 86 MiLLenni um Comm and Descriptions M anua l FIX V ELO CITY This command supports INS ( Inertial Navigation System) integration. It accepts ECEF XYZ velocity values in units of metres per second (m/s). This infor m ation is only use d b y the tracking loops of the receiver to aid in reacquisition of satellites after loss of lo[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 87 FREQU ENCY _OUT This comm and allow s the u ser to spe cify the frequency of the ou tput pulse t rain available at the variable fre quency (VARF) pin of the I/O strobe connector. This comman d has no ef fect on th e operation of the GPSCard; it is only provided for user-determined a[...]

C Com mands Su mmary 88 MiLLenni um Comm and Descriptions M anua l FRESET This command clears all data which is stored in non-volatile m e m ory. Such data includes the alman ac, satellite channel configuration, and any user-specific configurations. The GPSCard is forced to reset and will start up with factory defaults. See also the CR ESET , where[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 89 HELP This command pr ovides you with on-lin e help. The com mand, w i th no option s, gives a com plete list of t he vali d system comman ds. For detailed help on any comman d, append th e optional command name t o the HELP comman d. Syntax: OR: Example: help dynamics Figure C-1 s h[...]

C Com mands Su mmary 90 MiLLenni um Comm and Descriptions M anua l LOCKOUT This command will prevent the GPSCard from using a satellite by de-weighting its range in the solution computations. Note that the LOCKO UT c ommand does not prevent the GPSCard from tracking an undesirable satellite. This comma nd must be repeated for each satellite to be l[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 91 LOG Many differen t types of data can b e logge d using several dif ferent m ethods of triggerin g the l og events . Every log elemen t can be directed to either the COM 1 or COM2 ports. If a sel ected log elem ent is t o be directed to all the ports, then separate LOG commands are [...]

C Com mands Su mmary 92 MiLLenni um Comm and Descriptions M anua l MAGV AR The GPSCard computes directions referenced to True North. Use this command (magnetic variation correction) if you i ntend to nav igate in agreem ent wit h magnetic compass bearings. The cor rection value entered here will cause the "bearing " field of the NAVA / B [...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 93 MESS AGE S The MESSAGES command is used to dis able t h e por t p ro m pt and erro r message repor ti ng fro m a specif ied port. This feature can be u seful if th e port is connected to a modem or oth er device that responds with data the GPSCard does not recognize. See Chapter 5 f[...]

C Com mands Su mmary 94 MiLLenni um Comm and Descriptions M anua l POSA VE This command implements position av eraging for reference stations. Position av eraging will conti nue for a specified number of hours o r until the averaged position is within specified accuracy limits. Averaging will stop when the t ime lim it or the horizontal stan dard d[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 95 RESE T This command performs a hardw are reset. Follow ing a RESET command, the GPSCard will initiate a cold-start bootup. There fore, the receiver conf iguration will revert t o the factory default if no us er configuration was saved or the last SAVECONFIG setti ngs. Syntax: See al[...]

C Com mands Su mmary 96 MiLLenni um Comm and Descriptions M anua l RESETHEAL TH This com mand cancels the SETHEALTH command and restores the health of a sat ellite to the broadcast value contained in the alm an ac and e phemeris data. Syntax: Exam pl e : resethealth 4 RESETHEAL THALL This comm and resets the health of all satellites to the broadcas[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 97 RINEX Receiver -Indepe nda nt Excha nge F ormat The RINEX form at is a broadly-accepted, receiver-independen t format for st oring GPS data. It features a non- proprietary ASCII file format that can be used to combine or process data generated by receivers made b y different manufac[...]

C Com mands Su mmary 98 MiLLenni um Comm and Descriptions M anua l R TCM16T This is a NovAtel comman d relating to the RTCM Standard ASCII message that can be sent ou t in RTCM Type 16 format. Once created, the RTCM16T message can be viewed in the RCCA comman d settin gs list. The text message can als o b e logge d usin g th e RTCM16 or RT CM16T lo[...]

C Com mands Summ ary MiLLen nium Co mma nd Descriptio ns Manual 99 R T CMRULE This com mand allow s th e use r flexibility in th e usag e of the RTCM Standard "bit rule". See Chapter 6, Message Formats, 6. 2 RTCM - Format Messages , for further information.[...]

C Com mands Su mmary 100 MiLLenni um Comman d Descript ions M anual RTKMODE This command sets up the RTK (RT-2 or RT-20) mode. Invoki ng this command allows you to set differen t parameters and con trol the operation of the RTK sy stem . The RTKMODE comm and is actually a family of commands; a description of the various argument s and options is as[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 101 Below is additional in formation for each argument: Command Arg ument Defa ult Argument Data Range RTKMODE default default enable or disable enable reset auto , static or kinematic auto fixed or float fixed unknown_b aseline, unknown_baseline known_llh_position lat,lon,hgt,[2 σ ],[[...]

C Com mands Su mmary 102 MiLLenni um Comman d Descript ions M anual Station Comm and Argume nt Data Remote r tkmode unknown_baseline (defau lt) known_llh_position lat,lon,height,[2 σ ],[m/e ] known_ecef_ba seline ∆ x, ∆ y, ∆ z,[2 σ ] RTK MODE UNKN OWN_BASELINE prevents the RTK system from using any baseline information in the initial calcul[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 103 Statio n Comma nd Argument Remote rtkmode auto (default ) sta tic kinematic RTK MO DE AUT O config ures the RTK system to autom atically detect motion . It is the default mode. It will reliably detect motion of 2.5 cm/s ec or greater. If you are undergoing motion slower than thi s w[...]

C Com mands Su mmary 104 MiLLenni um Comman d Descript ions M anual SA VEALMA This com mand saves the lat est alm anac in n on-volatile m em ory. The option ONNEW is the defau lt; if a different setti ng is used, a SAVECONFIG command must be iss ued or else ONNEW will resume aft er a reset. Bit 21 in the receiver self-test st atus word (see Table D[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 105 SA VECONFIG This command saves th e us er’s present configuration in non- volatile mem ory. Syntax: SAVECONFIG[...]

C Com mands Su mmary 106 MiLLenni um Comman d Descript ions M anual SEND This command is used to send ASCII printable data from the COM 1 or COM2 or disk file to a s pecified communications port. This is a one-ti m e command, therefore the data message must be preceded b y the SEND com mand foll owed by the <Enter> key (<CR ><LF> [...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 107 SEN DH EX This co mmand is like the SEND comm and but is used to send non-prin table characters expressed as hexadecim al pairs. Syntax: SENDHEX to-port data S y ntax Ran ge Value Description SENDHEX Command to-port COM1 , COM2 Port option data • even number of ASCII characters fr[...]

C Com mands Su mmary 108 MiLLenni um Comman d Descript ions M anual SETDGPSID This command is u sed to enter a station ID . Once set, the receiver w ill only accept dif ferential corrections from a station whose ID match es the set station ID . It is typically used wh en a station h as data links cont ainin g RTCM or RTCA messages from several stat[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 109 SET HEA L TH This com man d perm its you t he f lexibility t o ov erride t he b roadcast h ealth of a satellite. Under certain conditions and applications, it may be desirable to track and use information from a GPS satellite even though its health has been set bad by the GPS contro[...]

C Com mands Su mmary 110 MiLLenni um Comman d Descript ions M anual SETL1 OFFS ET The characteristic signal delays in troduced by the antenna , coaxial cable and GPSCard RF section wi ll vary from one system configuration to another. These delays are measurable using external test equipment. For applications which involve very p recise time trans f[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 111 SET N A V This com mand perm its en try of one set of nav igation waypoin ts (see Figure C-5 ). The orig in ( FROM ) and destination ( TO ) waypoint coordinates entered are considered on the ellipsoidal s urface of the current datum (default WGS84 ). Once SETNAV has b een set, you c[...]

C Com mands Su mmary 112 MiLLenni um Comman d Descript ions M anual Figure C-5 Illustration of S E TNAV Parameter s Reference Description 1 TO, lat-lon 2 X-Track perpendicula r reference poi nt 3 Current GPS posi tion 4 A-Track perpendicula r reference poi nt 5 X-Track (cross- track) 6 A -Track (along track) 7 Distance and beari ng from 3 to 1[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 113 SETT IMES YNC This command en ables or disables time s ynchronization, wh ich perm its t wo GPSCa rds in a master/sl ave relationship to be synchronized to a common external clock for range co mparisons. By default, this fu nction is disa ble d. With SE TTIMESYNC enabled, a slave u [...]

C Com mands Su mmary 114 MiLLenni um Comman d Descript ions M anual UNASSIGN This command cancels a p reviously issued ASSIGN com mand and the channel reverts t o automatic control. If a channel has reach ed state 4 ( PLL ), the satellite being tracked will not be dropped w hen the UNASSIGN command is issued, unl ess it is below the elev ation cuto[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 115 UNDULA TION This command perm its you to either en ter a specific ge oidal undulation value o r use the internal t able of geoidal undulation s. The separation values only refer to the separation betw een th e WGS84 ellipsoid and the geoid, regardless of the datum chosen, see th e P[...]

C Com mands Su mmary 116 MiLLenni um Comman d Descript ions M anual UNFIX This command removes all positi on constrain ts in voked with any of the FIX c ommands ( FIX POSITION , FIX HEIGHT , or FIX VELOCITY ). Syntax: UNFIX UNLOCKO UT This command allows a satellite which has been previously locked out ( LOCKOUT command ) to be reinstated in the so[...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 117 UNLOG This command permits you to rem ove a specif ic log request f rom the system . The [ po rt ] param eter is o ptional. If [ port ] is not specified, it is def aulted to the port that the command was received on. Thi s feature eliminates the need for you to kno w which port you [...]

C Com mands Su mmary 118 MiLLenni um Comman d Descript ions M anual USERDA TUM This command permits en try of cus tomized ellipsoidal datum param eters. Use this command in conjunction w ith the DATUM com man d. The default setting is WGS84 . Syntax: Exam pl e : userdatum 6378206.4,294.9786982,-12,147,192,0,0,0,0 USERDATUM semi-major flattening dx [...]

C Com mands Summ ary MiLLen nium Co mmand Descriptions Ma nual 119 VERS IO N Use this command to determ ine the cu rrent soft ware version of the GPSCard. The respons e to the VER SION command is logged to the port from which the command originated. Syntax: VERS ION Example: version OEM-3 MILLENRT2 ESN251448497 HW 3-1 SW 4.43 3/2.03 Feb 18/97 com1&[...]

D Log s summary 120 MiLLenni um Comman d Descript ions M anual D LOGS SUMMA RY LOG DES CRIPTIONS ALMA/B Decode d Alm anac This log contains the decoded almanac param eters from subf rames four an d five as received from the s atellite with the parity infor mation removed and appropriate scaling applied. Multiple messages are transmitted, one for ea[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 121 ALMA Structure: ALMA FORMAT Example: $ALMA, 1 ,3.55577E-003,32768,745,-7. 8860E-009,-6.0052951E-002,-1.1824 254E+000, 1.67892137E+000,-1.8119E-005,-3.63 79E-012,1.45854965E-004,2.6560228 1E+007, 9.55576E-001,1,0,0*20[CR][LF] ... $ALMA, 31 ,4.90665E-003,32768,745,-8 .0460E-009,3.05762855E+[...]

D Log s summary 122 MiLLenni um Comman d Descript ions M anual IONA FORMAT Struct ure: Exam pl e : $IONA,1.0244548320770265E-008,1.4901161193 847656E-008,-5.960464477539061E-0 08, -1.192092895507812E-007,8.8064000000000017 E+004,3.2768000000000010E+004, -1.966080000000001E+005,-1.966080000000001 E+005*02[CR][LF] UTCA FORMAT Structure: Exam pl e : $[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 123 ALMB ALMB FORMAT: Message ID = 18 Message by te count = 120 IONB FORMAT: Mes sage ID = 16 Me ssag e byte count = 76 Field # Field T y pe B y tes Format Units Offse t 1 Sync 3 0 (header) Checksum 1 3 Message ID 4 4 Message byte count 4 8 2 Satellite PRN number 4 integer 12 3 Eccentricity 8[...]

D Log s summary 124 MiLLenni um Comman d Descript ions M anual UTCB FORMAT: Message ID = 17 Message Byte Co unt = 5 2 Field # Fi eld Ty p e Bytes Forma t Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Polynomial constant term 8 doub le seconds 12 3 Polynomial 1st o rder term 8 double[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 125 BSLA/B Baseline Measur ement RTK This log contains the most recent matched baseline representing the vector from the reference station receiver to the remote station receiver. It is expresse d in ECEF coordinates with corresponding uncertain ties along each ax is, and a time tag. The esti[...]

D Log s summary 126 MiLLenni um Comman d Descript ions M anual BSLB Format: Message ID = 59 Message byte count = 100 Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week numb er 4 integer we eks 12 3 GPS time into the week 8 doub le seconds 16 4 Number o f[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 127 T able D-1 GPSCar d Solution Status T able D-2 P osition T y pe T able D-3 RTK Status for Position T ype 3 (RT -20) T able D-4 RTK Status for Posi tion T ype 4 (RT - 2 ) Value Descriptio n 0 Solution computed 1 Insufficient obser vations 2 No convergen ce 3 Singular A T PA Matrix 4 Covari[...]

D Log s summary 128 MiLLenni um Comman d Descript ions M anual CDSA /B Com munic ation a nd Di f f erential De code Status The GPSCard main tains a ru nning count of a variety of st atus indicators of the data link. This log outputs a report of those indicators. Parity and fra ming errors will occur i f poor trans mission lines are encountered or i[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 129 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 A ru nning count of DCSA r ecords that pass e rror checking 0 26 dcsbchk A ru nning count of invalid binary DCSB recor ds 0 27 dcsbgood A ru nning count of DCSB r ecords that pass error[...]

D Log s summary 130 MiLLenni um Comman d Descript ions M anual CDSB Format: Messag e ID = 39 Messag e byte count = 128 Field # Data By t e s Format Units Offse t 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week number 4 intege r weeks 12 3 Time of week 4 integer seconds 16 4 Xon COM1 4 intege [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 131 CLKA/B Receive r Clock O ff set Data This record is used to monitor the state of the receiver ti me. Its value will depend on the CLOCKADJUST com man d. If CLOCKAD JUST is enabled, then the offset and drift times will approach zero. If not enabled, then the offset will grow at th e oscill[...]

D Log s summary 132 MiLLenni um Comman d Descript ions M anual CLKB Format: Messag e ID = 02 Messag e byte count = 68 Field # Fi eld Ty p e B y tes Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week numb er 4 integer we eks 12 3 Seconds of week 8 double seconds 16 4 Clock off[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 133 CLMA/B Receiver Clock Mod el The CLMA and CLMB logs contain th e current clock-mo d el matrices of the GPSCard. These logs can be both generated and received b y a GPSCard. NOTE: Only advanced users should seek to alter the clock model parameters of a GPSCard. Throughou t the follow ing, [...]

D Log s summary 134 MiLLenni um Comman d Descript ions M anual Exam pl 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+002,8.996728013E+004*00[CR][LF] CLMB Format:[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 135 COM1A /B an d COM2 A/ B Pass-Through Logs There are two pass-th rough logs COM1A / B and COM2A / B , available on MiLLennium GPSCards. The pass-through loggin g feature enables th e GPSCard to redirect any ASCII or binary data that is input at a specified port ( COM1 or COM2 ) to an y spe[...]

D Log s summary 136 MiLLenni um Comman d Descript ions M anual DOP A/B Dil ution of Precision The dilution of precision data is calcu lated using the geometry of only those satellites that are cur rently being tracked and used in the position solution by the GPSCard and updated once every 60 seconds or whe nev er a change in the constellation occur[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 137 DOPB Format: Message ID = 07 Message byte coun t = 68+(sats*4) Field # Data By t e s Format Units Offse t 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week nu mber 4 integer weeks 12 3 Seconds of week 8 double seconds 16 4 gd op 8 doub[...]

D Log s summary 138 MiLLenni um Comman d Descript ions M anual ETSA /B Extend ed T racki ng St atus These logs provide channel tracking statu s information f or each of the GPSCard parallel ch annels. NOTE: This log is intended for status display only; since some of the data elements are not synchroniz ed together, they are not to be used for measu[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 139 Example (carriage ret urns have been added between observations for clarity) : $ETSA,850,332087.00,0,24, 7,00082E04,-613.5,54.682,27.617,12301.4,2025 7359.57,0, 7,00582E0B,-478.1,46.388,0.000,11892.0,20257 351.96,13, 5,00082E14,3311.2,35.915,1.037,1224.4,244126 32.47,0, 5,00582E1B,2580.4,[...]

D Log s summary 140 MiLLenni um Comman d Descript ions M anual FRMA/B Framed Ra w Naviga ti on Data This mess age contain s the raw fram ed nav igation data. An individual mes sage is sent fo r each PRN being tracked. The message is updated with each ne w frame, therefore it is best to log the data with the ‘onnew’ trigger activated. FRMA Struc[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 141 GGAB G loba l Pos ition S ystem Fix D ata (Bi na ry Form at O nly) Time, position and fix-related data of the GPS receiver. This bi nary log is a replica of the NMEA GPGGA ASCII log expressed in binary format with NovA tel header added. Format: Message ID = 27 Message by te count = 80 Not[...]

D Log s summary 142 MiLLenni um Comman d Descript ions M anual GP ALM Almanac Data This log outputs raw alm anac data for each satellite PR N contained in the broadcast message. A separate record is logged for each PR N , up to a maximum of 32 records. Followin g a GPSC ard reboot, no recor ds will be output until new broadcast message data is rece[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 143 GPGG A G loba l Pos ition S ystem F ix Da ta Time, position and fix-related data of the GPS receiver. The information contained in this log is als o available in the NovAtel GGAB log in binary form at. This log wil l output all null data fields unti l the G PSCard has achiev ed first fix [...]

D Log s summary 144 MiLLenni um Comman d Descript ions M anual GPGL L Geographic Posi tion Latitude and longitude of present vess el position, t ime of posit ion fix, and statu s. This log will output all null data fields until the GPSCa rd has achieved first fix. Struct ure: Exam pl e : $GPGLL,5106.7198674,N,11402.3587526,W,220152. 50,A*1B[CR][LF][...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 145 GPGRS GPS Range Residuals for Each Satell ite Range residuals can be com puted in two ways, and this log reports those residuals. Under mode 0, residuals ou tput in this log are us ed to update the position solution output in the GPGGA mess age. Under m ode 1, the residuals are re-compute[...]

D Log s summary 146 MiLLenni um Comman d Descript ions M anual GPGSA GPS DOP and A c tiv e Satel lites GPS receiver operating mode, satellites us ed for navigati on and DOP val ues . Struct ure: Exam pl e : $GPGSA,M,3,18,03,13,25,16,24,12,20,,,,,1.5,0. 9,1.2*3F[CR][LF] $GPGSA mode MA mode 123 prn prn prn prn prn prn prn prn prn prn prn prn pdop hdo[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 147 GPGS T Ps eudo ra nge Me asu re me nt Noi se Sta tis tic s Pseudorange measurement noise statistics are translated in the position d omain in order to give statistical measures of the quality of the position solut ion. Structure: Example: $GPGST,192911.0,28.7,21.6,12.0,20. 4,20.7,13.6,11.[...]

D Log s summary 148 MiLLenni um Comman d Descript ions M anual GPGSV GPS Satell ites in V iew Number of SVs in vie w, PRN numbers, elevation , azimuth and SNR valu e. Four satelli tes maxi mu m per messag e . When required, additional satellite data sent in second or third message. Total number o f messages being transmitted and th e current mess a[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 149 GPRMB Na vig ati on Infor matio n Navigation data from present p osition to a destinat ion way point. Th e des tination is set active by the GPSCa rd SETNAV co mmand. If SETNAV has been set, a com mand t o log eithe r GPRMB or GPRMC wil l cause both logs t o output data. Structure: Exampl[...]

D Log s summary 150 MiLLenni um Comman d Descript ions M anual GPRMC GPS Specific Information Time, date, position, track made good and speed data provided b y the GPS navigation receiver. RMC and RMB are the recommended m ini mum navigation data to be p rovided b y a GPS receiver. This log will output all null data fields until the GPSCa rd has ac[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 151 GPVTG Track Made Good And Grou nd Speed The track made good and speed relative to the gr ound. Structure: Example: $GPVTG,24.168,T,24.168,M,0.4220347 ,N,0.781608,K*7A[CR][LF] $GPVTG track true T track mag M speed Km N speed km K *xx [CR][LF] Field Structu re Field De scription S y mbol Ex[...]

D Log s summary 152 MiLLenni um Comman d Descript ions M anual GPZDA UTC Time and Da te This log will outpu t all null data fi elds until the G PSCard has achieved f irst fix. Struct ure: Exam pl e : $GPZDA,220238.00,15,07,1992,00,00*6F[CR][LF] ➀ Local time zones are not supported by the GPSCard. Fields 6 and 7 will alw ays be null. $GPZDA utc da[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 153 GPZTG UTC & Ti me to Destination Waypoint This log rep orts ti me to destination wa ypoint. Waypoint is set using the GPSCard SETNAV co mmand. I f destin ation way point has not been set wit h SETNAV , time-to- go and destination w ay point ID will b e null. Th is l og will output all[...]

D Log s summary 154 MiLLenni um Comman d Descript ions M anual MKP A/B Mark Po sition This log contains the estim ated position of the antenn a at detected mark i mpulse. It uses the last valid position and velocities to extrapolate t he position at ti me of mark. Refer to the GPSCard In stallation and Operating Manual Appendix for Mark Input pulse[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 155 MKT A/B Time of Mark Input This log contain s the ti me of the detected Mark Input pulse leadin g edge as detected at the M ark Input I/O po rt. The resolution of this measu remen t is 49ns. Refer to the GPSCard I nstallatio n and Operat ing Manual Ap pendix for the Mark Input puls e spec[...]

D Log s summary 156 MiLLenni um Comman d Descript ions M anual NA V A /B W aypoint N avigation Data This log reports the status of your waypoint n avigation pr ogress. It is used in conjunction with the SETNAV com mand . REMEMB ER: The SETNAV command must be enabled befo re valid data will be rep orted from this log. NA V A Struct ure: Exam pl e : [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 157 NA VB Format: Message ID = 08 Message by te count = 76 Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 intege r 4 Message byte count 4 intege r 8 2 Week nu mber 4 integer weeks 12 3 Seconds of week 8 do uble seconds 16 4 Distance 8 double [...]

D Log s summary 158 MiLLenni um Comman d Descript ions M anual Figure D-1 Example of Navigation Parameters A = FROM lat-lon B = TO lat-lon AB = Great circle line draw n between FROM A lat-lon and TO B lat-lon AC = Track offset fr om A to C BD = Track offset f r om B to D CD = Offset track to steer (parallel to AB) F = Current GPS position E = Xtrac[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 159 P A V A/B Posi tion Av eraging Status These logs are meant to be used in conjun cti on with the POSAVE com mand. If the POSAVE com mand h as not been issued, all fields in the PAVA / B logs except week and seconds will be zero. Howeve r, when position averaging is underway, th e various f[...]

D Log s summary 160 MiLLenni um Comman d Descript ions M anual PAV B Format: Messag e ID = 50 Messag e byte count = 80 Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 GPS week number 4 integer we eks 12 3 GPS seconds into the we ek 8 doub le seconds 16 4 A[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 161 POSA/B Compu ted P osition This log will contain the last valid position and tim e calculated referenced to the GPSA ntenna ph ase centre. The position is in geograp hic coordinates in degrees based on your specified datum (default is W GS84 ). Th e heig ht is referenced to mean sea level[...]

D Log s summary 162 MiLLenni um Comman d Descript ions M anual PRTKA/B Computed Position (RTK) This log c ontains the best avai lable position compute d by the receiver, along with three status flags . In addition, it reports other status indicators, in cluding differential lag , which is useful in predictin g anoma lous beh av iour brought about b[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 163 Example: $PRTKA,872,174963.00,1. 000,8,7,7,51.11358042429, -114.04358006710,1059.4105, -16.2617,61,0.0096,0.0100,0.011 2,0,0,4,42,119*51[CR][LF] PRTKB Format: Message ID = 63 Messag e byte count = 124 Field # Data By t e s Format Units Of fset 1 Sync 3 char 0 (header) Checksum 1 cha r 3 M[...]

D Log s summary 164 MiLLenni um Comman d Descript ions M anual PV AA/B XYZ Position, V elocity and Ac celeration The PVAA / B logs contain the receiver’s lates t computed position, velocity and acceleration in ECEF co ordinates. The position, velocity and acceleration s tatus fields indicate w heth er or not the corresponding data are valid. This[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 165 PV AB Format: Message ID = 49 Message by te count = 108 Field # Field T ype B y tes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte count 4 in teger 8 2 GPS we ek number 4 integer weeks 12 3 GPS time of week 8 double seconds 16 4 Position[...]

D Log s summary 166 MiLLenni um Comman d Descript ions M anual PXY A/B Comp uted Ca rtesian Coordina te Pos ition This log cont ains the las t valid position, expressed in Cartesian x-y-z space coordinates, relative to the cent er of the Earth. The positions ex pressed in th is log are alw ays relativ e to WGS84 rega rdless of the setting of the DA[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 167 PXYB Format: Message ID = 26 Message by te count = 88 ➀ This lo g provides differential fi x and la g stat us. Field # Data B y tes Forma t Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integ er 4 Message byte count 4 integer 8 2 Week nu mber 4 integ er weeks 12 3[...]

D Log s summary 168 MiLLenni um Comman d Descript ions M anual Figure D-2 The WGS 84 ECE F Coordinate System[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 169 RALA/B Raw Alma nac Almanac and health data are contained in subframes fou r and five of the satellite broadcast message. Subframe four contains in fo rmation for SVs 2 5-32, as well as io nospheric, UTC and SV config ur ation data. Subframe five contains in form ation for SVS 1-24. Subfr[...]

D Log s summary 170 MiLLenni um Comman d Descript ions M anual RASA /B Ra w Almana c Set This is a single log for t he entire Almanac data set. Onl y a complete log will be set so you do not ha ve to worry about ephem eris data im itating an Alman ac. RASA Exam pl e : $RASA,926,246000,926,319488,1,30,4,2,8B0E784FDA315936EC4EFCAEFD360 0A10C5C896ECE9[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 171 RASB Format: Message ID = 66 Message by te coun t = 40 + (n * 32) Note: V ariable Len g th = 40 + ( n * 32). Max imum = 40 + (50 * 32) = 1640. Ty pical size (31 subframes) = 1032 by tes. Field # Data By t e s Format Units Offse t 1 Sync 3 char 0 2 Checksum 1 char 3 3 Message ID 4 integer [...]

D Log s summary 172 MiLLenni um Comman d Descript ions M anual RBT A/B Satel li te Bro ad cas t D ata : Raw Bits This message contains the satellite b roadcast data i n raw bits before FEC (forward error correction) decoding or any other processing. An indiv idual message is sent for each PRN being tracked. For a given satellite, the message number[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 173 RCCA Receiver Configuratio n This log outputs a list of all current GPSCard c ommand settings. Observing thi s log is a go od way to monit or the GPSCard configu ration settings. See Chapt er 2 for the RCCA default lis t. RCCA Example: $RCCA,COM1,9600,N,8,1,N,OFF,ON*2B $RCCA,COM2,9600,N,8[...]

D Log s summary 174 MiLLenni um Comman d Descript ions M anual RCSA/B Receiver Status The RCSA log will al ways output four records: one for VE RSION , one f or receiver CHANNELS , one for receiver CPU IDLE time, and one indicating receiver self-test STAT US . However, RC SB wil l embed the same information in a single record. Together, the RVSA / [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 175 REP A/B Ra w Ephe m er is REP A This log contains t he raw Binary information for subfram es one, two and three from the satellite with the pa r ity information removed. Each subfram e is 240 bits lon g (10 words - 24 bits each) and the log con tains a total 720 bits (90 bytes) of infor m[...]

D Log s summary 176 MiLLenni um Comman d Descript ions M anual RGEA/B / D Channel Ra nge Measur ements RGEA/B/D contai n the ch annel ran ge meas urem ents f or the cu rrently observed satel lites. The R GED m essage i s a compressed form of the RGEB message. When using these logs , please keep in mind the con straints noted along with th e desc ri[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 177 RGEA Structure: Example (carriage ret urns have been added between observations for clarity) : $RGEA,845,511089.00,14,000B20FF 4,23907330.296,0.119,-125633783.99 2,0.010,3714.037,44.8,1928.850,82 E04, 4,23907329.623,1.648,-97896180.284 ,0.013,2894.285,35.0,1746.760,582 E0B, 2,21298444.942[...]

D Log s summary 178 MiLLenni um Comman d Descript ions M anual RGEB Format: Messag e ID = 32 Mes sage byte count = 32 + (obs x 44) Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 int eger 4 Message byte count 4 integer 8 2 Week number 4 int eger weeks 12 3 Seconds of week 8 double se con ds 16 4 Nu[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 179 RGED Format: Message ID = 65 Message byte coun t =24 + (20 x number of obs) Field # Data Bytes Forma t Scale Offset 1 Sync 3 cha r 0 (header) Che cksum 1 cha r 3 Message ID 4 integer 4 Message byte count 4 inte ger 8 2 Number o f obs 2 1 12 3 Week number 2 1 14 4 Seconds of week 4 inte ge[...]

D Log s summary 180 MiLLenni um Comman d Descript ions M anual T able D-5 Recei ver Se lf-T est S tatus Codes Notes on Table D-5 : 1. Bit 3 : On OEM GPSC ards, “ROM” includes all f orms of non -volatile mem ory. 2. Bits 12 -15: Flag is reset to 0 five m inutes after the last overrun /overload condition has occurred. GPSCard exam ple: All OK = 0[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 181 1 This bit wi ll be set to 1 w hen the digital s igna l processors ( DSP ) have passed the self-test requirem ents . 0 I f this bit is set to 0, one or both of the DSP chips has fail ed self -test; please con tact NovAtel Custom er Service. Bit 5 L1 AGC 1 When set to 1, the L 1 AGC circui[...]

D Log s summary 182 MiLLenni um Comman d Descript ions M anual Bit 16 Almanac Saved 0 Almanac not saved in non-volatile memo ry. 1 Almanac save d in non-volatile m em ory (12 chan nel OEM cards only) . Bit 17 L2AGC 1 When set to 1, the L 2 ARG circuits are operating within normal ran ge of cont rol. 0 This bit will b e set clear if the L 2 AG C is [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 183 T able D-6 Range Record Format (RGED only) Notes on Table D-6 : ① Only PRNs 1 - 63 are repo rted correctly (Note: while there are only 32 PRNs in th e bas ic GPS scheme , situati ons exist which require the use of additional PRNs ) ② C/No is constrained to a value between 20 - 51 dB-H[...]

D Log s summary 184 MiLLenni um Comman d Descript ions M anual T able D-7 Channel Tracking Status Table D-7 is referenced b y the ETSA/B, and RGEA/B/D logs. Table D-7, Bits 0 - 3 : Channel Tracking State Table D-7, Bits 12- 14 : Correlator Spacing State De scription State Desc ription 0 L1 Idle 6 L1 Steering 1 L1 Sky search 7 L1 Frequency-lock loop[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 185 RINEX The Receiver-In dependen t Exchang e (RINEX) format is a broadly -accepted, receiver-indepen dent form at for storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data generated b y receivers made by different manufacturers. RINEX [...]

D Log s summary 186 MiLLenni um Comman d Descript ions M anual RPSA/ B Refere nce S tation Pos ition a nd He alth This log contains the ECEF XYZ position of the r eference station as received thr ough the R TCA Type 7 or RTCM Type 3 message. It al so features a time tag , t he health status o f the ref erence station, an d t he station ID. This inf[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 187 R TCA Sta nda rd Lo gs The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to support Differential Global Navigation Satellite System ( DGNS S ) Special Category I ( SCAT - I ) precision instrument approaches. The RTCA Standard is in a prelim inary state[...]

D Log s summary 188 MiLLenni um Comman d Descript ions M anual RTKA/B Co mputed Positi on - Time Matche d RTK This log represents positions that have b een computed from time matched reference and remote observations. There is no r eference station extrapolation erro r on these positions but because the y are based on buffer e d measurem ents , th [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 189 RTKB Format: Message ID = 61 Message byte count = 116 Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week number 4 integer weeks 12 3 GPS time into the week 8 doub le seconds 16 4 Number of match[...]

D Log s summary 190 MiLLenni um Comman d Descript ions M anual RTKOA/B RTK Soluti on Para m eter s This is the “R TK output” log, and it contains m iscellaneou s inform ation regarding th e RTK solution . It is based on the matched update. Note that the length of the log messages will vary depending on the number of matched satellites in th e s[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 191 Example: $RTKOA,929,237639.00,1,8,8,8,8,0,4 ,1,0.000006136,0.000003797, -0.000006287,0.000003797,0.0000132 11,-0.000007043,-0.000006287, -0.000007043,0.000018575,3.2209,-3 .0537, -1.2024,0.0183,0.0138,0.0124,0,0.0 000,1,7, 21 ,6,-0.001199, 23 ,6,0.005461, 31 ,6, 0.009608, 9 ,6,0.001963, 1[...]

D Log s summary 192 MiLLenni um Comman d Descript ions M anual T able D-8 Ambiguity T ypes T able D-9 Sear cher Sta tus T able D-10 R TK Status Ambigui t y Type Definition 0 L1 only floating 1 Wide lane fixed integer 2 Reserved 3 Narrow lane floating 4 Iono–fre e floating 5 Reserved 6 Narrow lane fixed integer 7 Iono–fre e fixed discrete 8 L1 o[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 193 RVSA/ B Re ce iv er Sta tus This log convey s various status parameters of the receiv er system. If the sy stem is a m ultiple-G PSCa rd unit w ith a master card, certain param eters are repeated fo r each indiv idual GPSCard. If t he sy stem is com pos ed of onl y one GPSCard, then only [...]

D Log s summary 194 MiLLenni um Comman d Descript ions M anual RVSB Fo r m at: Message I D = 56 Message b yte c o unt =28+ (8 x n u m be r of ca r ds) NOTE: For Fiel d 9, self-test bits 2 , 3 , 4 , 6, & 7 are set only onc e (when the GPSC ar d is first p o wered u p ). All other b its a re set b y i nter n al te s t p ro c e s ses each t i me t[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 195 SA T A/B Satel lite Sp eci fic Da ta This log p rovides satellite specific data fo r satellites actually bein g tracked. The record length is variable an d depends on t he numb er of satellites. Each satellite being tracked has a re ject code indicating whether it is used in the solution [...]

D Log s summary 196 MiLLenni um Comman d Descript ions M anual SA TB Format: Message ID = 12 Message by te count = 32 + (obs*32) T able D-1 1 GPSCar d Range Rejec t Codes Field # Data B ytes Format Units Offset 1 Sync 3 char 0 (header) Checksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week nu mber 4 integer we eks 12 3 Secon[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 197 SBT A/B SATELLITE BROADCAST DATA: RAW SYMBOLS This message contains the s atellite br oadcast data in raw symbols before FEC decoding or any other p rocessing. An individual message is sent for each PRN being tracked. For a given satellite, the messag e number incremen ts by one each ti m[...]

D Log s summary 198 MiLLenni um Comman d Descript ions M anual SPHA/B Speed and Direction Over Gr ound This log provides the actual speed and direction of motion of the GPSCard antenna over ground, at the time of measurement, an d is updated up to 10 ti mes per second. It should be noted that the GPSCard does not determine the direction a ve ssel, [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 199 SVDA/B SV Posi ti on in ECE F XYZ Coor dina te s with Corre ctions When combin ed with a RGEA/B/D l og, this data set contain s all of the decoded satellite info rmation necessary to compute the solution: satellite coordinates ( ECEF WGS 84 ), satellite clock correction, ionospheric corr [...]

D Log s summary 200 MiLLenni um Comman d Descript ions M anual SVDB Format: Messag e ID = 36 Message byt e c oun t = 36 +(obs* 68) Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week numb er 4 integer weeks 12 3 Time in seconds 8 doub le seconds 16 4 Rece[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 201 TM1A / B T ime of 1PPS This log p r ov id es the t i m e of the GPSCard 1 PPS , nor mally high, active lo w pul se (1 millisecond), wh ere falling edge is reference, in GPS week number and seconds into the week. It also inclu des the receiver clock offset, the standard deviation of the re[...]

D Log s summary 202 MiLLenni um Comman d Descript ions M anual VERA/B Receiver Ha rdw are an d Softw are V ersio n Nu mb ers This log contain s the current hardw are type and s oft ware v ersion number for the G PSCard. Togeth er with th e RVSA/B log, it supersedes th e RCSA/B log. VERA Struct ure: Exam pl e : $VERA,853,401364.50,OEM-3 MILLENSTD CG[...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 203 VLHA/B V elocity , Late ncy , and Directio n over G round This log is si milar to the SPHA / B message. As in the SPHA / B messages the actu al speed and direction of the GPSCard antenn a over gr ound is provided. The VLHA / B differs in that it provides a measure of the laten cy in the v[...]

D Log s summary 204 MiLLenni um Comman d Descript ions M anual VLHB Format: Messag e ID = 34 Messag e byte count = 72 T able D-12 GPSCa rd V elocity Status Field # Data By t e s Format Units Offset 1 Sync 3 char 0 (header) Che cksum 1 char 3 Message ID 4 integer 4 Message byte count 4 integer 8 2 Week number 4 integer we eks 12 3 Seconds of week 8 [...]

D Logs summary MiLLen nium Co mmand Descriptions Ma nual 205 WRCA/B Wide B and Ran ge Correction (Group ed Fo rmat) This message contains the wide band range correction data. A correction is generated for each PRN being track ed and these gr oup togeth er in to a sin gle log. In ternally , the correction for each satellite is updated asynch ronousl[...]

E Compa rison Of RT-2 And RT-20 206 MiLLenni um Comman d Descript ions M anual E COMPARIS ON OF RT -2 AND R T -20 E.1 RT-2 & RT-20 PERFO RMANCE RT-2 and R T-20 are real-ti me kinem atic soft ware p roducts developed by NovAtel. They can only b e used in conjunction wi th NovAtel GPS receivers. A quick comp arison of RT-2 and RT-20 is sh own in [...]

E Compa rison Of RT-2 And RT-20 MiLLen nium Co mmand Descriptions Ma nual 207 R T -2 P erforma nce The RT-2 soft ware p rovides the accuracies shown in Table E-3 & Figu re E-1 (static mode) and Table E-4 & Figure E-2 (kinematic mode) for “typical” multipath, ionospheric, tropospheric, and ephemeris errors, where “typical” is describ[...]

E Compa rison Of RT-2 And RT-20 208 MiLLenni um Comman d Descript ions M anual Figure E-1 Typical RT-2 Horizontal Convergenc e - Static Mode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode 0 0. 2 0. 4 0. 6 0. 8 1 1. 2 1. 4 0 300 600 900 1200 1500 1800 2100 2400 270 0 3000 3300 Se conds of C onve rge nce CEP(meters) 0. 1 km 15 km 25 [...]

E Compa rison Of RT-2 And RT-20 MiLLen nium Co mmand Descriptions Ma nual 209 For baselines under 30 km long, the RT-2 sol ution shows t w o pr onounced steps in accuracy convergence; these correspond to t he single-point soluti on switching to the floating ambiguity solu tion which in turn s witches to the narrow lane solution. If you were monitor[...]

E Compa rison Of RT-2 And RT-20 210 MiLLenni um Comman d Descript ions M anual T able E-5 RT -20 Perfor mance Figure E-5 Typical RT-20 Convergence - Static Mode Trackin g Time ( sec) Mode ① Data Del ay (sec) Distance (k m) Accurac y (CEP) 1 - 180 Static 0 1 100 to 25 cm 180 - 3 000 Static 0 1 25 to 5 cm > 3000 Static 0 1 5 cm or less ➁ 1 - 6[...]

E Compa rison Of RT-2 And RT-20 MiLLen nium Co mmand Descriptions Ma nual 211 Figure E-6 Typic al RT-20 Conver gence - Kinematic Mode Figure E-7 shows the perform ance of th e RT - 20 sy stem run ning with RTCM 59 corrections received at a 1/2 Hz rate . Figure E-7 RT-20 Steady S tate Performa nce 0 0. 2 0. 4 0. 6 0. 8 1 1. 2 1. 4 0 300 600 900 1200[...]

E Compa rison Of RT-2 And RT-20 212 MiLLenni um Comman d Descript ions M anual E.2 PERFORM ANCE CONS ID ERATIONS When referring to th e “performance” of R TK softwa re, two f actors are introduced: 1 Baseline length : the position estimat e becomes less precise as th e baseline leng th increases . Note that the baseline lengt h is the distan ce[...]

E Compa rison Of RT-2 And RT-20 MiLLen nium Co mmand Descriptions Ma nual 213 2. If the loss of differential corrections lasts longer than 30 secon ds , the RT - 20 filter is reset and all ambiguit y and monitor model information is lost. The timeout thresh old for RT - 20 differential corrections is 30 seconds, but for Type 1 pseudorange correctio[...]

F Stan dards and Re ferences 214 MiLLenni um Comman d Descript ions M anual F STANDARDS AND REFERENCES RTC M STANDARDS REFER ENCE For det ailed specificati on s of RTCM , refer to RTCM SC104 Version 2.1 of "RTCM Recommen ded Stan dards For Differential NAVSTAR GPS Service", J an uary 3, 199 4 Radio Technical Commission for Maritime Servic[...]

G Geodeti c Datum s MiLLen nium Co mmand Descriptions Ma nual 215 G GEODETIC DAT UMS The follow ing tables con tain the inte rnal ellipsoid paramet ers an d t ransformation param eters use d in the GPSCa rd. The values contained in th ese tables w ere derived f rom the follow in g DM A technical reports: 1. TR 835 0.2 De partmen t of Def ence World[...]

G Geodet ic Datums 216 MiLLenni um Comman d Descript ions M anual 16 GEO49 84 -22 209 Geode tic D atum 1949 ( New Ze aland) Inter nationa l 1924 17 GRB36 375 -111 431 Gre at Brita in 193 6 (Ord inance Survey ) A iry 183 0 18 GUAM -100 -24 8 259 Guam 196 3 (Gua m Isla nd) C larke 1 866 19 HAWAI I 89 -279 -18 3 Hawaii an Haw aii (Old ) Inter nationa [...]

G Geodeti c Datum s MiLLen nium Co mmand Descriptions Ma nual 217 Notes: * Default user datum is WGS84 . * Also see the DATUM and USERDATUM commands in Chapter 2 and Ap pendix C . * T he GPSCard DATUM c ommand sets th e Datum value based on the name en tered as listed in the " NAME " col umn in Table G-2 (e.g., NAD83). * T he follow ing G[...]

H Some Co mmon Un it Conversions 218 MiLLenni um Comman d Descript ions M anual H SOME COMMON UNIT CONV ERSIONS Listed below are several commonl y used equivalent s between the SI (Système Intern ationale) units of weights and measures u sed in the me tric s ystem, and those u sed in the im perial sys tem. Distance 1 metre (m ) = 100 centim etres [...]

I Inf ormation Messages MiLLen nium Co mmand Descriptions Ma nual 219 I INFORMATION ME SSAGES TYPE 1 INFO RMATIO N MES SAGES To date, the only Type 1 messages are the ! ERRA and the ! MSGA logs. !ER RA Example: !ERRA,1,0,Authorization Code Inval id,*22[CR][LF] T able I -1 T ype 1 !ERRA Types !MSG A Example: !MSGA,1001,Authorization Code Is T ime Li[...]

I Info rmation M es sages 220 MiLLenni um Comman d Descript ions M anual Ta b l e I -2 T ype 1 !MSGA T ypes TYPE 2 INFOR MATION MESS AGES The following is a list of i nformation mess ages which are generated by the Command Int erpreter in response to a user’s input. Th is list is not neces sarily complete, but it is th e most accurate one av aila[...]

I Inf ormation Messages MiLLen nium Co mmand Descriptions Ma nual 221 Invalid Channel Number An invalid channel number ha s been ente red in a command such as ASSIGN. Invalid Coarse Modulus Field The coar semod argumen t of the FREQUEN CY_OUT command is invalid. Invalid Command CRC The received command has an invalid checksum. Invalid Command Name [...]

I Info rmation M es sages 222 MiLLenni um Comman d Descript ions M anual Invalid Port The port in a SEND command is invalid. Invalid Port number The por t number in an AC CEPT command is invalid. Invalid PPS Modulus Field The ppsmod argument of th e FREQUENCY_OUT comm and is invalid. Invalid RINEX Option An op tion of a RINEX comman d is invalid. I[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 223 J LISTING OF T ABLE S T his section is p rovided fo r eas e o f reference . T he ta b l es r epr o du ce d in the pages that follow are: 1-1 G P SCard P se u dora n ge Di f fe r e n tial I n itializa t i o n S u mmary 1-2 Laten c y - I nduced Extrap o l ation Er r or 2-1 Commands T[...]

J Listing Of Tab les 224 MiLLenni um Comman d Descript ions M anual T able 1-1 GPSCa rd Pseudora nge Differential Initialization Summary T able 1-2 Latency-Induced E xtrapolation Er ror Time si nce las t reference station obser vation Typical extrap olation e rror (CEP) 0-2 seconds 1 cm/sec 2-7 seconds 2 cm/sec 7-30 seconds 5 cm/sec MO NI TOR STATI[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 225 T able 2-1 Commands By Function T able COMMUNICATIONS, CONTROL AND STA TUS Commands De scriptions ANTE NNAP OWER Power to t he l ow-noise ampl if ier of an act ive a ntenn a COMn COMn port c onfigura tion control COMn_DT R DTR handsha king cont rol COMn_RT S RTS h andshaki ng cont [...]

J Listing Of Tab les 226 MiLLenni um Comman d Descript ions M anual Table 2-1 Commands By Function Table (continued) SATELLITE TRACKING AND CHA NNEL CONTROL Comm ands Descriptio ns $AL MA Do wnl oa d al mana c d at a file ASSI G N Sa tellite c hanne l assig nment CONFIG Swi tches the ch annel co nfigura tion o f the G PSCa rd DYNAMICS Se ts corre l[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 227 T able 2-2 GPSCa rd Command Summar y Comma nd Description S y ntax $ALMA Injects almanac (fo llows NovAte l ASCII log form at) $IONA Injects ionospheric refraction corrections (follows No vAtel ASCII log form at) $PVAA Injects latest computed position, velocity and acceleration (fo[...]

J Listing Of Tab les 228 MiLLenni um Comman d Descript ions M anual Table 2-2 GPS Card Command Summa ry (continued) MAGVAR Set magnetic variation correction magvar value MESSAGES Disable erro r report ing from comm and interprete r messages port,option POSAVE Implements position averaging for r eference station posave ma xtime, maxhorstd, maxverstd[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 229 T able 4-1 Logs By Function T able COMMUNICATIONS, CONTROL AND STA TUS Logs Descri ptions CDSA/ B COM po rt communi cations status COM1A /B Log da ta from COM1 COM2A /B Log da ta from COM2 COMnA /B Pass- thro ugh d ata lo gs RCSA /B Re ceiver se lf- test statu s RTCM1 6T NovA tel A[...]

J Listing Of Tab les 230 MiLLenni um Comman d Descript ions M anual T able 4 -1 Logs By Function T able (continued) WAYPOINT NAVIGATION Logs De scriptions GPRMB NMEA, wa y point s tatus GPRMC NMEA, na vigation in formation GPVTG NMEA, tra ck made goo d and speed GPZTG NM EA, time to dest inat ion MKPA /B Po sition at time o f mark inpu t NAVA/B Nav[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 231 T abl e 4-2 GPSCard Log S ummary N.B. A/B/D A refers to GPSCard output lo g s in ASCI I format . B refers to GPSCard output lo g s in B inary for mat. D refers to GPSCa rd output lo g s in Compressed binary format. Syntax: log port,d atatype, [trigger], [perio d ] ,[offset] ,{hold [...]

J Listing Of Tab les 232 MiLLenni um Comman d Descript ions M anual T able 6-1 Positioning Modes T able C-1 Ant enna LNA Po wer Configuration T able C-2 Default V alues of Proce ss Noise E lements T able C-3 V ARF Range (Software V ersion 4.42 or higher) Referenc e statio n: L1 RTCM Type 59N Referenc e statio n: L1 RTCA Type 7 Referenc e statio n: [...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 233 T able D-1 GPSCar d Solution Status T able D-2 P osition T y pe T able D-3 RTK Status for Position T ype 3 (RT -20) Value Descriptio n 0 Solution computed 1 Insufficient obser vations 2 No convergen ce 3 Singular A T PA Matrix 4 Covariance tra ce exceeds ma ximum (trace > 1000 m[...]

J Listing Of Tab les 234 MiLLenni um Comman d Descript ions M anual T able D-4 RTK Status for Position T ype 4 (RT -2) T able D-5 Recei ver Se lf-T est S tatus Codes Notes on Table D-5: 1. Bit 3 : On OEM GPSC ards, “ROM” includes all f orms of non -volatile mem ory. 2. Bits 12 -15: Flag is reset to 0 five m inutes after the last overrun /overlo[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 235 T able D-6 Range Record Format (RGED only) Notes on Table D-6 : ① Only PRNs 1 - 63 are repo rted correctly (Note: while there are only 32 PRNs in th e bas ic GPS scheme , situati ons exist which require the use of additional PRNs ) ② C/No is constrained to a value between 20 - [...]

J Listing Of Tab les 236 MiLLenni um Comman d Descript ions M anual T able D-7 Channel Tracking Status Table D-7 is referenced b y the ETSA/B, and RGEA/B/D logs. Table D-7, Bits 0 - 3 : Channel Tracking State Table D-7, Bit s 12-14 : Correlator S pacing State De scription State Desc ription 0 L1 Idle 6 L1 Steering 1 L1 Sky search 7 L1 Frequency-loc[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 237 T able D-8 Ambiguity T ypes T able D-9 Searcher S tatus T able D-10 RTK Status Ambiguity Ty p e Definitio n 0 L1 only floatin g 1 W ide la ne fixe d integ er 2 Res erved 3 Narrow lane fl oating 4 Iono–fr ee floating 5 Res erved 6 Narrow lane fi xed inte ger 7 Iono–fr ee fixed d[...]

J Listing Of Tab les 238 MiLLenni um Comman d Descript ions M anual T able D-1 1 GPSCar d Range Rejec t Codes T able D-12 GPSCa rd V elocity Status T able E-1 Comparison of RT -2 and RT -2 0 . ➀ Not yet implem ent ed in receiver firm ware revi sio n 3.3 4 Value Description 0 Observ atio ns are good 1 Bad sa tellite h ealth i s indica ted by ephem[...]

J Listin g Of Table s MiLLen nium Co mmand Descriptions Ma nual 239 T able E -3 RT -2 Performance: S tatic Mode T able E-4 RT -2 Performance : Kinematic Mode T a ble E-5 RT -20 Per formance Baselin e length Time sin ce L2 l ock-on with at least 6 satellite s above mas k angle Horizonta l accu rac y at the state d time Runs m eeting the stat- ed acc[...]

K GPS Glo ssary of Terms 240 MiLLenni um Comman d Descript ions M anual K GPS Gl ossary of Term s ASCII — A 7 bit wide serial code desc ribing numbers, u pper and lower cas e characters, s pecial and n on-printing characters. Address field — for senten ces in the NMEA stan dard, the fixed leng th field follow ing the begin ning senten ce delimi[...]

K GPS Glo ssary of Terms MiLLen nium Co mmand Descriptions Ma nual 241 Coarse Acquisition (C/A) Code — a spread spectrum direct sequence code that is used p ri marily by commercial GPS receivers to determine the ran ge to the tran smitting GPS satellite. U ses a chip rate of 1.023 MHz. Communicat ion protocol — a m ethod esta blished for mes sa[...]

K GPS Glo ssary of Terms 242 MiLLenni um Comman d Descript ions M anual Doppler aiding — a si gnal processing strategy, which uses a measured D oppler shift to help a receiver smoothly t rack the GPS signal, to allow m ore precise vel ocity an d p osition measurem ent. Double-Difference — a position estimation mechanization which uses observati[...]

K GPS Glo ssary of Terms MiLLen nium Co mmand Descriptions Ma nual 243 Geostationary — a satellite o rbit along t he equator t hat result s in a c onstant fixed position ove r a particular reference point on the earth’s su rface. (GPS satellites are not g eostationary. ) Global Positioning System (GPS) — full name NAVSTAR Global Positioning S[...]

K GPS Glo ssary of Terms 244 MiLLenni um Comman d Descript ions M anual Magnetic heading — heading relative to m agnetic n orth. Magnetic variation — the angle be tween the magnetic and geo graphic mer idians at any place, expressed i n degrees and m inutes east or west to in dicate the direction of magnet ic north fr om true north. Mas k angl [...]

K GPS Glo ssary of Terms MiLLen nium Co mmand Descriptions Ma nual 245 PRN number — a number assigned by the GPS syst em designers to a given set of pseu dorandom c odes. Typically, a particul ar satellite w ill keep its PRN (and hence its code assignmen t) indefini tely , o r a t least for a long period of ti me. It is commonly used as a way to [...]

K GPS Glo ssary of Terms 246 MiLLenni um Comman d Descript ions M anual Spherical Error Probable (SEP) — the radi us of a sphere, centred at the user’s true location, that contains 50 percent of th e in dividu al three-dim ens ional p osition meas urem ents m ade usin g a particu lar navig ation sy stem . Spheroid — s ometimes known as ellips[...]

K GPS Glo ssary of Terms MiLLen nium Co mmand Descriptions Ma nual 247 VDOP — Vertical Dilution of Precision . This is related to GDOP. It describes the effects of geometry o n vertical positioning accuracy. It is defined to be t he square root of the diagonal of a normalized (assume measurem en t noise = 1) covariance matrix which corresponds to[...]

L GPS Glossary of A cronyms 248 MiLLenni um Comman d Descript ions M anual L GPS GLOS SARY OF ACRONY MS 1PPS One Pulse Per Second 2D Two Dim ensional 3D Three Di mensional A/D Analog- to-Dig ital ADR Accumulated Doppler Ran ge AGC Automatic Gain Control ASCII American Standard Code for Information Interchange BIH Bureau l’Internat ional de l’He[...]

L GPS Glossary of Acrony ms MiLLen nium Co mmand Descriptions Ma nual 249 MEDLL Mult ipath Estimation Delay Lock Loop MKI Mark In MKO Mar k Out msb M ost significant bit msec millisecond MSL Mean sea level N. mi. Nautical m ile NAVSTAR NAVigation S atellite Timing And Ranging (synon ymous with GPS) NCO Numerically Controlled Oscillator NMEA Nationa[...]

OM-200000 2 6 R e v 1 9 7/10/28 NovAtel In c . 1 120 - 6 8 Avenue NE Calgary, Alberta, Canada, T2E 8S5 GPS Hotline: (403) 295-4900 GPS Fax: (403) 29 5 -4901 E-mail: supp o rt@novatel.c a Web site: htt p://ww w.novatel.ca R ec y cla b le Pri n ted in C anad a o n r ec y cled paper[...]