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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 .. . .. . . . .. . .. . . . . .. . .. . . . . .. . .. . .. . .. . .. . .. . .. . . . . . . .. . .. . .. . .. . .. . .. . .. . . . . .. . .. . .. . . . .. . .. . .. . .. . . . . ..
Table of Co ntents vi MiLLenn ium Comma nd Descrip tions Man ual R B TA / B . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . . . .. . .. . .
Table o f Content s MiLLen nium Co mmand Descriptions Ma nual vii FIGURES 5-1 Pass-Thr ough Log Data ....................... ............................. ........................ ......................... ..... ... ...... ... ... ..... ... ... ......
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 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 .
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.
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.
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.
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.
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 lation.
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.
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.
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.
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 .
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 CONT.
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) $ION.
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 epo.
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.
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.
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.
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.
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).
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 D04CF671C603.
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.
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.
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.
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.
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.
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.
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 da.
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.
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.
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 ).
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.
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.
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>&.
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.
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.
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.
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.
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.
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.
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 : $RTCM3,597E7C7F7B76537A66406F494.
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.
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 .
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 fa.
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).
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.
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.
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.
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.
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.
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.
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 .
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.
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 re.
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.
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.
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 .
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 S.
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 .
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.
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.
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.
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 .
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.
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.
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 .
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 .
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.
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 .
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.
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 u.
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.
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 o.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 .
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 .
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_e.
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.
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.
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.
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.
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.
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 .
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.
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.
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 ).
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 Curr.
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.
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.
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.
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 ).
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.
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.
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.
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.
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.
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.
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 .
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 cksu.
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.
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.
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 f.
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.
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 t.
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 c.
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.
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 cks.
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.
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.
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.
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 ren.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 ch.
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 ).
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 .
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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 .
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.
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.
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.
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) Ch.
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 (heade.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 .
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 .
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.
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 la.
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.
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 ).
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.
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 Un.
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.
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.
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 .
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) Ch.
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.
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.
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.
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 .
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.
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.
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 Ta.
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.
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.
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.
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 .
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 .
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 .
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 la.
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-.
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 .
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.
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.
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 C.
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.
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.
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.
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.
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.
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 .
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.
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 .
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.
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 .
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.
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.
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.
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.
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.
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.
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 .
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.
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 .
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.
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.
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