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OM-200000 53 Rev 2 GPSCard Prod ucts NovAtel Inc. OM-20000 053 REV 2 MiLLennium GPSCard Software Versions 4.503 and 4.52 Command Descriptions Manual.
2 MiLLenni um GPSCar d SW Version 4.503/4.52 Command Des criptions M anual Rev 2 MiLLen nium Com mand Desc ription s Manual Publicatio n Number: OM-20000 053 Revisi on Level: 2 2001/ 01/16 This manual reflects S oftware Versi ons 4.
MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 3 T able of Co ntents Softwa re License 10 Software Support 11 Foreword 12 Congrat ulations! ....... ....... ........... ....... ........ ........... ....... ....... .......
4 MiLLenni um GPSCar d SW V ersion 4.52 Command Des criptions M anual Rev 2 4 Messa ge Formats 46 4.1 RTCA-For mat Mess age s....... ....... .... ....... .... ....... .... ... ....... .... ....... .... ....... .... .... ....... ... ........ ... .. ...
MiLLenni um GPSC ard SW Version 4.52 Co mmand Desc riptions Manual Rev 2 5 DYNAMICS ........... ........... ....... ....... ........... ....... ........ ........... ....... ........... ....... ....... ........... ... .... ..... . 94 ECUTOFF ..........
6 MiLLenni um GPSCar d SW V ersion 4.52 Command Des criptions M anual Rev 2 GPGGA Glo bal Positi on Sys tem Fix D ata.......... ........... ....... ....... ........... ....... ........ ........... ....... . 162 GPGLL Geo graphic P osition ........ ...
MiLLenni um GPSC ard SW Version 4.52 Co mmand Desc riptions Manual Rev 2 7 I Information Messages 244 Type 1 In formatio n Mess ages ........... ........... ........ ....... ........... ....... ....... ........... ....... ........ ........... ....... .
2 MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 8 Ta b l e s 1-1 GPSCard Pseudoran ge Differential Initializa tion Summ ary ................ ....... ....... ... 17 1-2 Latency-Indu ce d Extrapo latio n Error ...........
MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 9 Figures 2-1 The WAA S Conc ept ........ ....... ....... ........ ........... ....... ....... ........... ....... ........ .......... ... 30 3-1 Pass-Th rough L og Data ...
Softwar e License 10 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 SOFTWARE LICENSE BY OPENING THE SEALED DISK PACKAGE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS AGREEMENT.
Softwar e Support 11 MiLLenn ium GPSC ard SW 4.5 03/4.52 Comm and Descri ptions Manua l Rev 2 SOFTWARE SUPPORT Software update s are software revisio ns to an existing mo del which improves (b ut does not increase) basic functionality of the GPS receiv er.
Foreword 12 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 FOREWORD Cong ratul ations ! Thank you f or purcha sing a NovA tel GPSCar d product . Whether you hav e bought a s tand alone GPSCard or a pac kaged receiver y ou will have also received companio n documents to this manu al.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 13 1 QUICK START This chapter will help you get started quickly regardless of whether you wish to carry out real-time kinematic (RTK) positioning, operate in differential modes or simply log data.
1 Qui ck Start 14 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The View menu options allow you to select or de-select various visual aids and display screens. Take a look at all of the options and keep open those you wish to display.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 15 Syntax : log [port],datatype,[trigger],[period],[offset],{hold} NOTE : The syntax for a comman d can cont ain option al parameters (OPT1, OP T2, ...). OPT2 may only be us ed if it is preceded by OPT1.
1 Qui ck Start 16 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 COMMONLY USED LOGS Othe r use ful lo g s are • RCCA t o list the default co mmand setti ngs • ET.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 17 T able 1-1 GPSCard Pseudorange Different ial Initialization Summary Initiali zation - Re ference Stat.
1 Qui ck Start 18 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 NOTE 1: Entry of the station ID and health are o ptional.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 19 Generall y, a communication s link capable of data thro ughput at a rat e of 4800 bit s per second or higher is sufficient. However, it is pos sible to satis factorily use a lo wer rate (e.
1 Qui ck Start 20 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 apply only to the remot e stat ion. Detai led desc riptions can be found i n Appendi x C , Comm ands Summary. In the following secti ons, keep the follo win g in mind: • Dynamics m odes.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 21 Exampl e: fix position 51.11358042,-114.04358013,1059.
1 Qui ck Start 22 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 USING R TCM SC-104 LOG TYPES RTCM SC-104 is a standard for transmittin g differential corrections between equipment from different manufacturers. The NovAtel GPSCard is capable of transmitting or receiving RTCM d ata.
1 Quick Star t MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 23 Before initializin g, ensure that th e data link with the reference statio n has been properly set up.
2 Comman d Descr iptions 24 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2 COM MAND DESCRIPTIONS 2.1 GEN ERAL This section describes all com mands accepted by the GPSCard with the exception of the "Special Data Input Commands".
2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 25 NOTE: All previou sly stored configu rations that were save d to non-vo latile memory are erased (including Saved Co nfig, Sa ved Almanac, an d Channel Config) .
2 Comman d Descr iptions 26 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2.2 ST ANDA RD COMMAND TA BLES Table 2-1 lists the command s by functio n while Table 2-2 is an alphabetical listing of com mands.
2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 27 Table 2-1 Commands By Function Table (cont inued) 1 Intended for advanced users of GPS only .
2 Comman d Descr iptions 28 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Table 2-1 Commands By Function Table (continue d) T able 2-2 GP SCard Command Summary DIFF.
2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 29 DIFF_PRO TOCOL D iffe ren tial cor rection messa ge enc odi ng and decod ing for impleme nt.
2 Comman d Descr iptions 30 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 2.3 WAAS The Wide Area Augmentation System (WAAS) is a safety-critical system that provides a quality of positioning information previously unavailabl e.
2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 31 The signal broadcast via the WAAS GEOs to the WAAS users is designed to minimize modifications to standard GPS receivers. As such, the GPS L1 frequency (1575.
2 Comman d Descr iptions 32 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The GPSCard is capable of log ging almanac data utilizing the NovAtel-format AS CII log command option ALMA. Once logged, the data records will precede the header with the $ character (e.
2 Comman d Descr iptions MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 33 $UTCA... Use this special data i nput command to quickly update the GPSCard Universal Time Co ordinated (UTC) parameters following a sy stem restart (always ap pended to $ALMA records unless inten tionally stripped).
2 Comman d Descr iptions 34 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Chapter 3 and Append ix D, Page 19 4 . An example of a $REPA data message is as follows: $.
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 35 3 DATA LOGS 3.1 OUTPUT LOG GING The GPSCard provides versatilit y in your logging requirements. You can direct your logs to either COM 1 or COM2, or both ports, as well as combine data typ es.
3 Data Lo gs 36 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 specification. Specific logs can be disab led using the UNLOG command, whereas all enabled logs will be disabled by using the UNLOGALL command (see Chapter 2, Pa ge 24 and Appendix C, Page 134 ).
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 37 The follo wing table describes the format t ypes us ed in the des cription of binar y logs. Each byte within an int has its own address, and the smallest of the addresses is the address of the int.
3 Data Lo gs 38 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 3.4 NME A FORM AT DATA LOGS General The NMEA log structures follow for mat stand ards as adopted by the National Marine Electronics Association.
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 39 CLKA log (field 4 ) from GPS time report ed. GPS time is based on an atomic time scal e.
3 Data Lo gs 40 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Table 3-1 Logs By Function Table (continued) SATELLITE TRACKING AND CHANNEL CONTROL Logs Descriptions .
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 41 Table 3-1 Logs By Function Table (continued) DIFFERENTIAL REMOTE STATION Logs Descriptions CDSA/B C omm.
3 Data Lo gs 42 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 T able 3-2 GPSCard Log S ummary No te: A/B /D: Syntax : log port,datatype,[trigger],[period ],[offset].
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 43 A refers to GPSCard output logs in ASCII format. B refers to GPSCard output logs in Binary format. D refers to GPSCar d output logs in com pressed binary form at.
3 Data Lo gs 44 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure 3-1 Pass-Through Log Data When pass-throug h logs are being u sed, the GPSCard ’ s command interpre ter continues to monitor th e port for valid input commands and replies with error messages when the d ata is not recogn ized as such.
3 Data Log s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 45 Exampl e 1: $COM1,747,347131.23,$TM1A,747,347131.000000000,0.000000058,0.00000 0024, -9.000000009,0*78<CR>*2E[CR][LF] $COM1,747,347131.31,<LF>*4F[CR][LF] $COM1,747,347131.
4 Message F orm ats 46 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 4 MESSAGE FORMATS In a NovAtel RTK p ositioning system, th e observations transm itted by a NovAtel reference statio n to a NovAtel remote station can be in either a proprietary RTCA Type 7 or a proprietary RTCM Type 59N message format.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 47 RTCAREF TYPE 7 An RTCAREF ( RTCA Reference Stati on Position Inform ation) message contains reference station p osition inform ation, and s hould be se nt on ce every 10 se conds.
4 Message F orm ats 48 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 This message was designed so that RTCA data can be intermixed with other NovAtel ASCII data over a common communications por t. The log is not in pure RTCA format.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 49 Differential GPS Service (RTCM SC-104,Wash ington, D.
4 Message F orm ats 50 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM Standard Commands RTCMRULE The RTCM standard states that all equipment shall support the u.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 51 along wi th other NovA tel ASCII and b inary da ta over a commo n communicati ons port. As per the usu al conventio n, an “ A ” at the end of the log name denotes th e NovAtel AS CII versi on (e.
4 Message F orm ats 52 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 station generating this Type 1 lo g. The log is o f variable len gth, depending on the number of satellites visible and pseudoranges corrected by the reference station.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 53 This message was designed so that R TCM data can be transmitted intermixed with other NovAtel binary data over a common commu nications port. The log is not in pur e RTCM SC104 format and is not dire ctly usable as such.
4 Message F orm ats 54 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM9 PARTIAL SATELLITE S ET DIFFERE NTIAL CORRECTIONS RTCM Type 9 message s follow the same format as Ty pe 1 messages. However, unlike Type 1 messages , Type 9 ’ s do not require a co mplete satellite set.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 55 Exampl e: $RTCM16,6649404045495E5A5C406A58696D76596D5F665F765869694D4E53604D 70696552567E7B67576.
4 Message F orm ats 56 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 RTCM 59 T YPE 59N-0 NOVATEL P ROPRIETARY MESSAG E RTK RTCM Type 59 messages ar e reserved for propriet ary use b y RTCM reference station operat ors.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 57 receiving pseud orange and carrier phase data via CMR messages (versio ns 1.0, 2.0 or 3.0) from a non- NovAtel base-station receiver. The MiLLennium can also trans mit CMR messages (version 3.
4 Message F orm ats 58 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 In support of the first two file types, Nov Atel has created six A SCII log types that contain data records in RINEX format (XOBS, XOHD, XNAV, XNHD, XKIN, and XSTA).
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 59 Command exa mple: COM1> rinex agency NovAtel Surveying Service Ltd.
4 Message F orm ats 60 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Log e xample : $XOBS, 96 04 10 17 25 19.5000000 2*00 $XOBS, 4 1*2F $XOBS, *** KINEMATIC DATA FOLLOWS *** COMMENT*50 XNA V NAVIGATION DATA RECORD This log type contains b roadcast navigation message records for each satellite being used.
4 Message F orm ats MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 61 Command exa mple: COM1> log com2 xobs ontime 5 Log exampl e: $XOBS, 96 04 10 16 12 45.0000000 0 10G22G29G 3G28G16G27G 2G18G31G19*2B $XOBS, 25589487.
4 Message F orm ats 62 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 XST A OBSERVATION STATIC EVENT This log gener ates a time tag and flag when a n ew site occupation begi ns. Comma nd ex ample: COM1> log com2 xsta Log e xample : $XOBS, 96 04 10 17 25 45.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 63 A GPS OVERVIEW The Global Positio ning System (GPS) is a satellite navigation s ystem capable of providin g a highly accurate, continuous global navigation ser vice independent of other positioning aids.
A GP S Overview 64 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 GPSCard. The GPS satellites transmit on two L-band frequencies; one centered at 1575.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 65 Figure A-2 Illustra tion of GPSCa rd Height Measuremen ts From the above diagram, and the formula h = H + N, t o convert heig hts betw een the ellipso id and ge oid we requ ire the geoid-ellipsoid se paration value.
A GP S Overview 66 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure A-3 Accuracy versu s Precis ion 5 Single-point vs.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 67 Figure A-4 E xample of Differential Positioning Stat ic vs . Ki n e ma t i c P osit io ning Static and kinematic positi oning refer to whether a GPS receiver is stationary or in motion while collecting GPS data.
A GP S Overview 68 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 1. The matched position s olutio n is computed at the remote station when the observation information f or a given epoch has arriv ed from the reference station via the data lin k.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 69 • Ionospheric Group Delays – The earth ’ s ionospheric layers cause var ying degrees of GP S signal pr opagatio n delay .
A GP S Overview 70 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 (GDOP < 2; no multip ath) when SA i s off and 40 meters CEP w hile AS is on.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 71 This function is useful for ob taining the WGS84 position of a point to a reasonable accuracy without ha ving to implement differential GP S.
A GP S Overview 72 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure A-6 Typical Differential Configuration Remote Station Reference Station Modem Radio Data Lin.
A GP S Overview MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 73 THE REFERENCE STATION The nucleus of the differential network is the reference st ation. To functio n as a base station, the GPS receiver antenna must be positioned at a control point whose pos ition is precisely known in the GPS reference frame.
A GP S Overview 74 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 ADR doubl e differenc e = (ADR rx A, sat i - ADR rx A,sat j ) - (ADR rx B,sat i - ADR rx B,sat j ) An ambiguity v alue is estimated for each double-difference observation.
B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 75 B MU LTIPATH ELIMINAT ION TECHNOLOGY Multipath signal reception is one of the most plaguing problem s that detracts from the accuracy p otential of GPS pseudorange differential positi oning systems.
B Mult ipath Elimi nation Tec hnology 76 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 settings as well. If the GPS receiver is in a valley wi th nearby hills, mountains and heavy v egetation, signal obstructio n and att enuation are als o very common.
B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 77 and at all bearings an d elevation angles f rom the antenna. This is, o f course, the ideal situation, which may not be poss i b le unde r actu al ope ratin g cond i tion s.
B Mult ipath Elimi nation Tec hnology 78 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 The Model 600 GPSAntenna is an active an tenna designed to op erate at the GPS L1 and L2 frequencies, 157 5.42 and 1227.60 MH z.
B Mult ipath Elimi nation T echnolog y MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 79 what makes NovAtel ’ s GPS antennas so successful when used with the NovAtel GPSAntenna choke ring ground plane.
B Mult ipath Elimi nation Tec hnology 80 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Figure B-4 Compa rison of Mu ltipath Envelopes SUMMARY Any localized propagat.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 81 C COMMANDS SUMMAR Y ACCEPT The ACCEPT command controls the processing of input data and is primarily used to set the GPSCard ’ s COM p ort command interp reter for acceptance of v arious data form ats.
C Com mands Su mmary 82 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 Synt ax: Exampl e: accept com1 rtcm ACCEPT port option Syntax Range Value Description Default .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 83 ANTENNAPOWER On MiLLennium GPSCards this command enables or disables the s upply of electrical power fro m the internal power source of the card to the low- noise amplifier ( LNA) of an active antenna.
C Com mands Su mmary 84 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 ASSI GN This command may b e used to aid in the initial acquisition of a satellite by allowing you to override th e automatic satellite/channel assignment and reacquisition processes with manual instructions.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 85 CLOCKADJUST All oscillators have some inher ent drift. On the MiLLennium GPSCard, the clock and the PPS strobe have a 50 ns jitter due to th e receiver ’ s attempts to keep the clock as close as possible to GP S time.
C Com mands Su mmary 86 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 COM n This command p ermits you to confi gure the G PSCard COM por t ’ s asynchronou s drivers. Synt ax: Exampl es: com2 19200,e,7,1,n,on,off com1 1200,e,8,1,n,on,off NOTE: Your GPSCard comes config ured this way.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 87 COMn_R TS This command enables versatile co ntrol of the RTS handshake line for use with o utput data logging in conjunction with external devices s uch as a radio transmitter.
C Com mands Su mmary 88 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 CON FIG This command switches the channel configuration o f the GPSCard between pre-defined configur ations. When invoked, this comman d loads a new satellite chann el- conf igur atio n and forces the GPSCard to r eset.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 89 CRESET Configuration Res et. Resets user configuration to the factory default. After a reset, non volatile memory (NVM) is read for u ser configuratio n.
C Com mands Su mmary 90 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 CSMOOTH This command sets the amount of carrier smoothing to be performed on the pseudoran ge measurements carrier. An input val ue of 100 corres ponds t o approximat ely 100 second s of sm oothing.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 91 DA TUM This command permits you to select the geodetic datum for operation of the receiver. If not set, the value is defaulted to W GS 84 . See Table G-2 in Appendix G for a comp lete listing of all available predefined d atums.
C Com mands Su mmary 92 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 DGPSTIMEOUT This command has a two-fold functio n: (1) to set the max imum age of dif ferential data th at will be accepted when o perating as a remote station.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 93 DIFF_PROTOCOL This log enables differential protocol control. NOTE: Th e D IF F_PRO TOCOL comma nd sh ould on ly be used by advanced u sers of GPS .
C Com mands Su mmary 94 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 DYNAMICS This command in forms the receiver of user dynamics .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 95 ECU T OFF This command sets the elevation cu t-off angle for usabl e satellites. The GPS Card will not star t tracking a satellite until it rises above the cutoff angle.
C Com mands Su mmary 96 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 EXTERNALCLOCK Overvi ew The EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY commands allows th e MiLLennium GPSCard to operate with an option al exter nal oscillator .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 97 Syntax : Exampl e: externalclock user 1.0e-20 1.
C Com mands Su mmary 98 MiLLenni um GPSCar d SW V ersion 4.503 /4.52 Comman d Descript ions Man ual Rev 2 EXTERNALCLOCK FREQUENCY Please see the Overview and Th eor y sub-secti ons under the E XTERNALCL OCK command to unders tand the steps involved in using an optional external oscillat or with a MiLLennium GPSCard.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 99 FIX HEIGHT This comman d conf igures the G PSCard in 2D mode with its height co nstrained to a given value.
C Com mands Su mmary 100 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 FIX POSITIO N Invoking this co mmand will result in the GPSCard position bein g held fixed. A computation will b e done to solve local clock offs et, pseudorang e, and pseudorange d ifferential corr ections.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 101 FIX VELOCITY This command s upports INS (Inertial Navigation Sys tem) integration . It accepts ECEF XYZ velocity values in units of meters per second (m/s).
C Com mands Su mmary 102 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 FREQUENCY_OUT This command allows the user to specify the frequen cy of the output pulse train available at the variable fr equency (VARF) pin of the I/O strobe conne ctor.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 103 FRESET This command clears all data which is stored in non-volati le memory. Such data includes the alm anac, satellite channel configuration, an d any u ser-specific config uration s.
C Com mands Su mmary 104 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 HELP This command provides you wit h on-lin e help. The command, with no options , gives a complete list of t he valid system commands. For detailed help on any command , append the optional command name to the HELP command.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 105 IONOMODEL This command allows the user to dictate what ionospheric corrections the card uses. This command currently does not effect the ionosph eric model that is used when the card is operating in RTK m ode.
C Com mands Su mmary 106 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 LOC KOUT This command will prevent the GPSCard from using a satellite by de-weight ing its range in the solution computations. Note that the LOCKOUT command does not prevent the GPSCard from tracking an undesirable satellite.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 107 LOG Many diff erent t ypes of data can be logg ed us i ng s ever al d ifferen t meth ods of t rig geri ng the lo g even t s. Every l og element can be directed to either the CO M1 or COM2 ports.
C Com mands Su mmary 108 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MAGV AR The GPSCard computes d irections ref e renced to True North. Use this comman d ( magn etic variation cor rection) if you intend to navigate in agreement with magnetic compass bearings.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 109 Figure C-3 Illustra tion of Magnetic Variation & C orrection Reference Des cription a T rue .
C Com mands Su mmary 110 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MESSAGES The MESSAGES command is used to disable the por t prompt and error messag e reporting from a specified po rt.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 111 POSA VE This command implements position averaging for ref erence stations. Position averagin g will continue for a specified number of hours or u ntil the averaged pos ition is within specified accuracy limits.
C Com mands Su mmary 112 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RESET This comman d performs a hardware re set.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 113 RESE THEA L TH This command cancels the SETHEALTH command and rest ores the health of a satellite to the broad cast value contained in the alm anac and ephemeris data.
C Com mands Su mmary 114 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RIN EX The Receiver-Independent Exch ange format (RINEX) is a broadly-accepted, receiver-indepen dent format for storing GPS data.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 115 R TCM16T This is a NovAtel command relating to the RTCM Standard ASC II messag e that can be sent out in RTCM Ty pe 16 format. Once created, the RTCM16T messag e can be viewed in the RCCA comman d settings list.
C Com mands Su mmary 116 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTCMRULE This command allows the user flexibility in the usage of the RTCM Standard "bit rule". See Chapter 4 , for f urther i nformation.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 117 RTK M O DE This com mand s ets up t he RTK ( RT-2 o r RT-20) mode. Invoki ng this command al lows you to s et di fferent parameters and co ntrol the operation of the RTK sys tem.
C Com mands Su mmary 118 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Below is additional information for each argument: Command Argument Default Argument Data Ran.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 119 Station Com mand Argument Data Remote rtkmod e unknown_basel ine (default) known_llh_pos ition l.
C Com mands Su mmary 120 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Station Co mmand Argu ment Remo te rtkmode auto (default) static kinematic RTKMODE AUTO configures the RTK system to automatically detect motion.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 121 SA VEALMA This command saves the latest almanac in non-volatile memory. The option ONNEW is the default; if a different setting is used, a SAVECO NFIG command must be issued or else ONNEW will resume after a reset.
C Com mands Su mmary 122 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SA V ECONFIG This command s aves the user ’ s present configuration in non-vo latile m e m ory . WARNING!: Do not use the SAVECONFIG command when communicating with the GPSCard through GPSolution .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 123 SEND This command is used to send ASCII printable data from the COM1 or COM2 or disk file to a specified communications port.
C Com mands Su mmary 124 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SENDHEX This command is like the SEND command but is us ed to send non-printa ble characters expressed as hex adecimal pairs.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 125 SETDGPSID This command is used to enter a station ID. Once set, the receiver will only accept differential corrections from a station whose ID matches the set station ID.
C Com mands Su mmary 126 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETHEAL TH This command permits you the flexibility to override the broadcast health of a satellite.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 127 SETL1 OFFSET The characteristic signal delays introduced by the antenna, coaxial cable an d GPSCard RF section will vary from one system configuration to another.
C Com mands Su mmary 128 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETNA V This command perm its entry of one set of navigatio n waypoints ( see Figure C-5 ). The or igin (FROM) and destination (TO) waypoint coordinates entered are considered on the ellipsoidal surface of the current d atum (default WGS 84 ).
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 129 Figure C-5 I llustrati on of SETNAV Parameter s Refe rence De scripti on 1T O , l a t - l o n 2 .
C Com mands Su mmary 130 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SETTIMESYNC This command enables or disables time synchroni zation, which permits two GPS Cards in a master/slave relationshi p to be syn chronized t o a common ex ternal clock for range com parisons.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 131 UNASSIGN This command cancels a prev iously is sued ASSIGN command and the SV ch ann el rev erts to au tomatic contro l.
C Com mands Su mmary 132 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UNDULA TION This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 133 UNFIX This command rem oves all pos ition const raints invok ed with any of the FIX commands (FI X POSITION, FIX HEIGHT, or FIX VELOCITY).
C Com mands Su mmary 134 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UNL OG This command p ermits you to re move a specific log requ est from the sys tem. The [ port ] paramete r is optional. I f [ po rt ] is not specified, it is defau lted to the port that the command was received on.
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 135 USERDA TUM This command permits en try of cust omized ellipso idal dat um parameters. Us e this comman d in conjunctio n with the DATUM comma nd. The default set ting is WGS 84 .
C Com mands Su mmary 136 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 VERSION Use this command to determ ine the current software vers ion of the GPSCard. Th e response to the VERSION command is logged to the port from which th e comma nd origin ated .
C Commands Summary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 137 W AAS CO RREC TI ON WAAS This command allows you to d ictate how the card handles WAAS correctio ns.
D Log s Summary 138 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 D LOGS SUMMARY LOG DESCRIP TIONS ALMA /B Deco de d A lma nac This log contains the decoded almanac p arameters from subframes four and five as received from the satellite with the parity information removed and appropriate scalin g applied.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 139 Exampl e: $ALMA, 1 ,3.55577E-003,32768,745,-7.88 60E-009,-6.0052951E-002,-1.182425 4E+000, 1.67892137E+000,-1.8119E-005,-3.6379 E-012,1.45854965E-004,2.
D Log s Summary 140 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UTCA FORMAT Structur e: Exampl e: $UTCA,-2.235174179077148E-008,-1.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 141 ALMB ALMB FORMAT: Message ID = 18 Message byte count = 120 IONB FORMAT: Message ID = 16 Mess age by.
D Log s Summary 142 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 UTCB FORMAT: Message I D = 17 Mes sage Byte C ount = 52 Field # Field Ty pe Bytes Form at Units Of.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 143 BSLA/B Baseline Measurement RTK This log contains the most recent matched baseline repres enting the vector from the reference station receiver to the remote station receiver.
D Log s Summary 144 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 BSLB Form at: Message I D = 59 Message byte count = 100 T able D-1 GPSCard Solution Status Fie l d.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 145 T able D-2 Position Ty pe T able D-3 RTK Status for Pos ition T ype 3 (R T -20) T able D-4 RTK Stat.
D Log s Summary 146 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CDSA/B Communication and Differ ential Decode Status The GPSCard maintai ns a running count of a vari ety of st atus in dicat or s of t he data link .
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 147 Exampl e: $CDSA,787,500227,0,0,0,0,0,0,9,0,0,0 ,0,0,0,9,0,0,0,0,0,0,0,0,0,0,0,0, 0*33[CR][LF] 25 dcsagood DCSA is now obsol ete. 0 26 dcsbfail DCSB is now obs olete.
D Log s Summary 148 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CDSB Format: Message ID = 39 Message byte count = 128 Field # Data Bytes Format Units O ffset 1 Sy.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 149 CLKA/B Receiver Clock Off set Data This record is used to monitor the state of the receiver time. Its value will depend on the CLOCKADJUST command. If CLOCKADJUST is enabled, then the offset and drift times will approach zero.
D Log s Summary 150 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CLKB Format: Message ID = 02 Mes sage byte count = 68 Fie l d # Field Ty pe Bytes Form at Units Of.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 151 CLMA/B Receiver Clock Model The CLMA and CLMB logs contain the current clock-mo del matrices of the GPSCard. These logs can be both generated and received by a GPSCard.
D Log s Summary 152 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $CLMA,1010,142281.00,0,0,6.109902810E+008,6.109902810E+008,3.0048 51569E+000,-7.09478374E-002,1.072025038E- 001,9.018176231E+002,6.665159580E+000,- 8.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 153 CMR Standard Logs The Compact Measuremen t Record (CMR) Format, a standard communications pr otocol.
D Log s Summary 154 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 COM1A/B and COM2A/B Pass-Through Logs There are two p ass-thr ough log s COM1A / B and COM2A / B , available on MiLLennium GPSCards.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 155 DOP A/B Dilution of Precision The dilution of precision data is calculated using the geometry of on.
D Log s Summary 156 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 DOPB Format: Message ID = 07 Mes sage byte cou nt = 68+(sats*4) Fie l d # Data Bytes Form at Units.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 157 ETSA/B Extended Tracking Status These logs pr ovide channe l tracking status infor mation for each of the GPSCard parallel channels.
D Log s Summary 158 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Example (carriage returns have been added between observations fo r clarity): $ETSA,850,332087.00,0,24, 7,00082E04,-613.5,54.682,27.617,12301.4, 20257359.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 159 FRMA/B Framed Raw Navigation Data This message cont ains the raw framed navig ation data.
D Log s Summary 160 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GGAB Global Posi tion System Fix Dat a (Binary Format Only) Time, position and fix-related data of the GPS receiver. This binary log is a replica of the NMEA GPGGA ASCII log express ed in binary format wi th NovAtel h eader added.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 161 GP ALM Almanac Data This log output s raw almanac data for each satellite PRN con tained in the b road cast message. A separate recor d is logged for each PRN, up to a maximum of 32 records.
D Log s Summary 162 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGGA Global Position System Fix Data Time, position and fix-related data of the GPS receiver. The information con tained in this log is also available in the NovAtel GGAB lo g in binary format.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 163 GPGLL Geograph ic Posit ion Latitude and longit ude of present vessel positi on, time of position fix, and status.
D Log s Summary 164 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGRS GPS Range Residu als for Each Sa tellite Range resid uals can be computed in two ways, and this l og reports th ose residual s. Under mode 0, residuals ou tput in this log are used to update the position so lution output in the GPGGA message.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 165 GPGSA GPS DOP and Active Satell ites GPS receiver operating mode, satellites used for navigati on and DOP values. Structure: Exampl e: $GPGSA,M,3,18,03,13,25,16,24,12,20,, ,,,1.
D Log s Summary 166 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPGST Pseudorange Measurement Noise Statistics Pseudorange measurement noise statistics are trans lated in the pos ition domain in ord er to give statistical meas ures of the quality of the position solution.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 167 GPGS V G PS S atellit es in V iew Number of SVs in view, PRN numbers, elevation, azimut h and SNR value. Four satellites maximum per message. When required , additional satellite d ata sent in second or third message.
D Log s Summary 168 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPRMB Navigation Informatio n Navigation data from present position to a destination waypoint. The destination is set active by the GPSC ard SETNAV command.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 169 GPRMC GPS Specific Information Time, date, position , track made good and speed data prov ided by the GPS navigation receiver. RMC and RMB are the recommended minimum navigation data to be provided by a GPS receiver.
D Log s Summary 170 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPVTG T rack Made Good And Grou nd Speed The track made goo d and speed relative to the groun d. Structure: Exampl e: $GPVTG,24.168,T,24.168,M,0.4220347,N,0.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 171 GPZDA UTC Time and Date This log will output all null data fields until the GPSCard has set fine time as monitored by the receiver status word, see Table D-5 Receiver Self-Test Status Codes on Page 198, bits 8,9 and 1 0.
D Log s Summary 172 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 GPZTG UTC & T ime to Destination Waypoint This log reports time to destination waypoint.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 173 MKP A/B Mark Position This log co ntains the est imated positio n of the antenn a at detected mark impul se. It use s the last valid posi tion and velocities to extrapol ate the position at time o f mark.
D Log s Summary 174 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 MKT A/B Time of Mark Input This log contains the time of the detected Mark Input pu lse leading edge as detected at the Mark Inpu t I/O port. The resolutio n of this m easurement is 4 9ns.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 175 NA V A/B W aypoint Navigation Data This l og repo rts the s tatus of your waypoint navigat ion pr ogress. I t is used in con junction with the SETNAV command.
D Log s Summary 176 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 NA VB Format: Message ID = 08 Mes sage byte count = 76 Fie l d # Data Bytes Format Units Offset 1 .
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 177 Figure D-1 Example of Navigat ion Paramete rs A = FROM lat-lon B = TO lat-lon AB = Great circle lin.
D Log s Summary 178 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 P A V A/B Position Averaging Status These logs are meant to be u sed in conjunction with the POSAVE command. If the POSAVE command h as not been issued, all fields in the PAVA/B logs except week and seconds will be zero.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 179 PAV B Format: Message ID = 50 Message byte count = 80 Field # Data Bytes Format Units Offset 1 Sync.
D Log s Summary 180 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 POSA/B Computed Positi on This log w ill contain the last valid posit ion and time calculated referenced to th e GPSAntenna phase cen tre. The position i s in geog raphic coor dinates in degrees ba sed on your specified dat um (default is WGS 84 ).
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 181 PRTKA/B Comp uted Position RTK This log contains the best available position computed by th e receiver, along with three status flags.
D Log s Summary 182 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $PRTKA,872,174963.00,1.0 00,8,7,7, 51.11358042429, -114.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 183 PV AA/B XYZ Position, V elocity and Acceleration The PVAA/B logs contain th e receiv er ’ s latest computed position, velocity and acceleration in ECEF coordinates.
D Log s Summary 184 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 PV AB Format: Message ID = 49 Mes sage byte count = 108 Fie l d # Field Type Byte s Format Un its .
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 185 PXY A /B Com puted Cartesian Coor dinate Position This log contains the last valid po sition, expressed in Cartesian x- y-z space coordinates, relative to the center of the Earth.
D Log s Summary 186 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 PXYB Format: Message ID = 26 Mes sage byte count = 88 1 This log provides dif ferential fix and age status.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 187 Figure D-2 The WGS84 ECEF Coordinate System.
D Log s Summary 188 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RALA /B Raw Al man ac Almanac and h ealth data are contained in subframes four and five of the s atellite broadcast message. Su bframe four contains info rmation for SVs 25- 32, as well as i onospheric, U TC and SV con figurat ion data.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 189 RASA/B R a w Almanac Set This is a single log for the entire Almanac data set. Only a complete log will be set so you do not have to worry about ephemer is data imitating an Almanac.
D Log s Summary 190 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RASB Format: Message ID = 66 Message byte count = 40 + (n * 32 ) Note: V ariable Length = 40 + (n * 32). Maxim um = 40 + (50 * 32) = 1640. T ypical size (31 subframes ) = 1032 bytes.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 191 RBT A/B Satellite Broadcast Data: Raw Bits This message contains the s atellite broadcast data in raw bits bef ore FEC (forward error correction) decoding or any other processing.
D Log s Summary 192 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RCCA Receiver Configuration This log outputs a list of all curren t GPSCard command setti ngs. Observing this log is a g ood way to m onito r the GPSCard confi guration settings.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 193 RCSA/B Receiver Status The RCSA log will always ou tput four records: one for VERSION, one for receiver CHANNELS, one for receiver CPU IDLE time, and one indicating receiver self-test STATUS.
D Log s Summary 194 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 REP A/B Raw Ephemeris REP A This log contains the raw Binary inf o rmation for subframes one , two and three from the satellite with the parity information remo ved.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 195 RGEA/B/ D Channel Range Measurements RGEA/B/D contain the channel range measurements for the currently observed satellites. The RGED mess age is a compressed form of the RGEB message.
D Log s Summary 196 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RGEA Structure: 1 This outpu t will al ways be a hexadecim al repres entation w hich must be conver ted to bina ry format.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 197 RGEB Format: Message ID = 32 Message byte count = 32 + (obs x 44) RGED Format: Message ID = 65 Mess.
D Log s Summary 198 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 T able D-5 R eceiver Se lf-T est Statu s Codes N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni bbl e.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 199 Notes on Table D-5 : 1. Bi t 3: O n OEM GPSCards, “ ROM ” includes all forms of non-volatil e memory. 2. Bi ts 12- 15: Flag is reset to 0 five minut es after the last overrun/overl oad condi tion has occurred.
D Log s Summary 200 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 1 If set to 1, the receiver has detected a high power signal causing interference. When this happens, the receiver goes into a special anti-jamming mo de where it re-maps the A/D decode values as well as special L1AGC feedback control.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 201 Bit 20 OCXOPLL 1 When an external oscillat or is co nnected and th e OCXOPLL bit passes self-test, the bit will be se t to 1. 0 If no external oscillator is detected or a fault is detect ed in the OCXOPLL b it, this bit is set to 0.
D Log s Summary 202 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 4 ADR (Accumulated Doppler Rang e) is calculated as follows: ADR_ROLLS = ( -RGED_PSR / WAVELENGTH - RGED_ADR) / MAX_VALUE Round to t he closest in teger IF (ADR_ROLLS ≤ -0.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 203 T able D-7 Channel Tracking St atus Table D-7 is referen ced by the ETSA/B , FRMA/B, RGEA/B/D and WRCA/B logs.
D Log s Summary 204 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RINEX Receiver-Independent Exchange Format The Receiver-Independent Exch ange (RINEX) format is a broadly-accepted, receiver-indepen dent format for storing GPS data.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 205 RPSA/B Reference Station Po sition and Health This log contains the ECEF XYZ position of the reference statio n as received through the RTCA Ty pe 7 or RTCM Type 3 message.
D Log s Summary 206 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTCA Standard Logs The RTCA (R adio Techni cal Com mission for Aviat ion Servi ces) Stand ard is being desi gned to support Differential Global Navig ation Satellite System (DGN SS) Special Category I (S CAT-I) precision instrument approaches.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 207 RTKA/B Computed Position - Time Matched RTK This log repres ents positio ns that have been comput ed from time matched reference and remot e observatio ns.
D Log s Summary 208 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RTK B Form at: Message I D = 61 Message byte count = 11 6 Field # Data By tes Format Units O ffset.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 209 RT KOA/B RTK Solution Parameters RTK This is the “ RTK output ” log, and it co ntains miscellaneous in formation regardin g the RTK solu tion. It is based o n the matched update.
D Log s Summary 210 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Exampl e: $RTKOA,929,237639.00,1,8,8,8,8,0,4,1,0.00000613 6,0.000003797, -0.000006287,0.000003797,0.000013211,-0.0000070 43,-0.000006287, -0.000007043,0.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 211 T able D-8 Ambiguity T ypes T able D-9 S earcher Status T able D-10 RTK Status Ambiguity Typ e Defi.
D Log s Summary 212 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RVSA /B Rec e iv e r Sta tus This log conveys various status parameters of the receiver system. If the system is a multiple-GPSCard unit with a master card, certain parameters are rep eated for each individual GPSCard.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 213 RVSB Format: Message ID = 56 Message byte count = 28 + (8 x number o f cards) NOTE: For F ield 9, sel f-test b its 2, 3 , 4, 6, & 7 are set only once (when t he GPSCard is first po wered up).
D Log s Summary 214 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SA T A/B Satellite Speci fic Data This log pr ovides satellite specif ic data for satellites actually being tracked. The record length i s variable and depends on the numb er of satellites .
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 215 SA TB Format: Message ID =12 Message byte count = 32 + (obs*3 2) T able D-1 1 GPSCard Range Reject .
D Log s Summary 216 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SBT A/B Satellite Broadcast Data: Raw Symbols This message contains the satellite b roadcast data in raw symbols before FEC decoding or any other processing.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 217 SPHA/B Speed and Direction Over Gr ound This log provides the actual speed and d irection of motion of the GPSCard antenna over ground, at the time of measurement , and is updated u p to 10 ti mes per seco nd.
D Log s Summary 218 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections When combined with a RGEA /B/D log, th.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 219 SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68 ) Field # Data By tes Format Uni ts O.
D Log s Summary 220 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 TM1A / B T im e of 1P P S This log provides th e time of the GPSCard 1PPS, normally high, active low pulse ( 1 millisecond), where falling edge is r eference , in GPS week n umber an d second s into the week.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 221 VERA/B Receiver Hardware and Software V ersion Numbers This log contains the current hard ware type and software version number for the GPSCard. Togeth er with the RVSA/B log, it su persedes the RCSA/ B lo g.
D Log s Summary 222 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 VLHA/B V elocity , L atency , and Direction O ver Ground This log is similar to the SPHA/B message. As in the SPHA/B messages the act ual speed and direction of the GPSCard antenna over ground is provided.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 223 VLH B Format: Message ID = 34 Message byte count = 72 T able D-12 GPS Card V elocity Sta tus Field .
D Log s Summary 224 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 W ALA/B W AAS Almanac WAAS Structure: *Exampl e: $WALA,981,447490.88,981,447360,122,0,0,2.578940 00E+007,-3.5479600E+007, 2.60000000E+004,0.00000000E+000,0.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 225 WA L B Format: Messa ge ID = 81 Message byte count = 92 T able D-13 Health and Status Bits *Note: Read the binary output f rom the Health field from ri ght to left.
D Log s Summary 226 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WEP A/B W AAS E phemeris WAAS The WEPA/B lo gs contain the WAAS satell ite ’ s latest computed position, velocity and acceleration in ECEF coordinate s.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 227 WEPB Format: Message ID = 80 Message byte count = 128 Field # Fi eld Type Bytes Format Units Offset.
D Log s Summary 228 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WRCA/B Wide Band Range Cor rection (Grouped Format) This message contains the wide band range co rrection d ata. A correction is generated fo r each PRN being track ed and these group together into a single log.
D Logs S ummary MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 229 WUTCA/ B UTC T ime Paramet ers WAAS This lo g outputs UTC tim e parameters and two G LONASS speci fic fields. WUTCA Struc ture: Exampl e: $ WUTCA,35,417865.
D Log s Summary 230 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 WUTC B Message ID = 82 Message byte count = 82 T able D-15 UTC Standard Ide ntifier Field # Field .
E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 231 E COMPARISON OF RT -2 A ND RT -20 E.1 RT-2 & RT-20 PERFORMANCE RT-2 and RT-20 are real-time kin ematic softwar e products developed b y NovAtel.
E Compa rison Of R T-2 And RT-20 232 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 RT -2 Perfor mance The RT-2 software provides the accuracies s how n in Tab le E-.
E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 233 Figure E -1 Typical RT- 2 Horizontal Convergen ce - Static M ode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode 0 0.
E Compa rison Of R T-2 And RT-20 234 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 For baselines u nder 30 km long, the RT-2 solution shows two p ronounced s teps i.
E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 235 T able E-6 RT - 20 Performance Figure E -5 Typical RT -20 Conver gence - Stat ic M.
E Compa rison Of R T-2 And RT-20 236 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Figure E -6 T ypical RT-20 Convergence - Kinematic Mode Figure E-7 shows th e performance of the RT- 20 system running with RTCM59 corrections received at a 1/2 Hz rate.
E Compa rison Of R T-2 And RT-20 MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 237 E.2 PERFORMAN CE CONSIDERATION S When referr ing to t he “ performance ” of RTK software, two factors are introd uced: 1. Baseline length : the position es timate becomes less precise as the baseline length in creases.
E Compa rison Of R T-2 And RT-20 238 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 DIFFERENTIAL LINK BREAKDOWN 1. Provid ed the syst em is in s teady state , and th.
F Standa rds and R eference s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 239 F S TANDARDS AND REFERENCES RTCM STANDARDS REFERE NCE For detailed specificatio ns of RT CM , re fe r to RT C M SC 10 4 Vers i on 2.
G Geodet ic Datums 240 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 G GEODET IC DATUMS The following tables cont ain the internal ellipsoid parameters and transform ation parameters used in the GPSCard. The values cont ained in t hese tab les were deri ved from t he followi ng DMA techni cal repor ts: 1.
G Geodeti c Datums MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 241 17 GRB36 37 5 -111 431 G reat Br itain 1936 (Ordinanc e Survey) Airy 18 30 18 GUAM -100 -2 48 25.
H Some C ommon U nit Convers ions 242 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 H SOME COMMON UNIT CONVERSIONS Section H.1 to H.4 list comm only us ed equivalent s between the SI (Sy st è me Internationale) units of weights and measures used in the metric system, and th ose used in the imperial system.
H Some Co mmon Unit C onversion s MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 243 H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE) 511200 seconds Day 5112 00 / 86400 seconds per day = 5 .916666667 days Hour .916666667 x 86 400 / 36 00 secon ds per hou r = 22 .
I Inform ation Mes s ages 244 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 I INFORMATION MESSAGES TYPE 1 INFOR MATION MESSAGE S To date, the only Type 1 messages are the ! ERRA and the !MSGA logs.
I Inf ormation Messages MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 245 Ta b l e I -2 Ty p e 1 ! M S G A Ty p e s TYPE 2 INFORMAT ION MESSAGES The following is a list of informatio n messages which are g en erated by the Comman d Interpreter in response to a user ’ s inpu t .
I Inform ation Mes s ages 246 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Invalid Cha nnel Number An inval id channel number has bee n entered in a command such as ASSIGN. Invalid Coa rse Modulus Field The coarsemod ar gument of the FREQUENCY_OUT co mmand is invalid.
I Inf ormation Messages MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 247 Invalid Parity Option The parity in a COMn command is i nvalid. Invalid Port The port in a SEND com mand is invalid . Invalid Port num ber The p ort number in an ACC EPT command is inv alid.
J Listi ng Of Tabl es 248 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 J LISTING OF T ABLES This section is provided for ease of r eference.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 249 Table 1- 1 GPSCar d Pseudoran ge Differ ential Initi alization Sum mary Table 1-2 Latency-Ind.
J Listi ng Of Tabl es 250 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 2-1 Commands By Function Table 1 Intended for advanced users of GPS only .
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 251 SATELLITE TRACKING AND CHANNEL CONTROL Commands Descripti ons $ALMA Download almanac data fi .
J Listi ng Of Tabl es 252 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 2-2 GPSCard Command Summary Comma nd Des cri pt ion Sy ntax $ALMA Injects almanac (fol.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 253 RINEX Con figure the user define d field s in the file headers rinex cfg typ e RTCM16T E nter.
J Listi ng Of Tabl es 254 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table 3-1 Logs B y Function Table COMMUNICATIONS, CONTROL AND STATUS Logs Descriptions CDSA/.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 255 WAYPOINT NAVIGATIO N Logs Descriptions GPR MB NMEA, waypoint stat us GPR MC NMEA, n avigation.
J Listi ng Of Tabl es 256 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 CLOCK INFORMATION, STATUS, AND TIME Logs Descripti ons CLKA/ B Rece iver c lock o ffs et inf.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 257 Table 3-2 GPSCard Log Summa ry Not e A/B/ D: A refers to GPSC ard output logs in ASCII format. B refers to GPSCard output logs in Binary format.
J Listi ng Of Tabl es 258 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table C-1 A ntenna LNA Power Configur ation Table C-2 De fault Values of Process Nois e Elements Table C-3 VARF Range (Software Version 4.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 259 Table D-2 Position Type Table D-3 RTK Status for Position Type 3 (RT-20) Table D-4 RTK Status.
J Listi ng Of Tabl es 260 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table D- 5 R eceiver Se lf-Test St atus Code s N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 261 Notes on Table D-5: 1. Bi t 3: O n OEM GPSCards, “ ROM ” includes all forms of non-volatil e memory. 2. Bi ts 12- 15: Flag is reset to 0 five minut es after the last overrun/overl oad condi tion has occurred.
J Listi ng Of Tabl es 262 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 5 6 Only bits 0 - 23 are represented in th e RGED lo g Table D-7 Channel Tracking Status * Grouped: A channel has an associated channel (L1/L2 pairs in MiLLennium and L1/L1 pairs in Beeline ) Cod e RGED 0 0.
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 263 Table D-7 is referenced by the ETSA/B, and RGEA/B /D logs.
J Listi ng Of Tabl es 264 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table D-10 RTK Status Table D-11 GPSCard Ra nge Reject Codes Table D- 12 GPSC ard Veloci ty .
J Lis ting Of Ta bles MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 265 Table E-1 Comparison of RT-2 and RT-20 . Table E-3 R T-2 Performance: Static Mode Table E-4 R.
J Listi ng Of Tabl es 266 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Table E-5 R T-2 Degradation With Respect To Data Delay 1 Table E-6 RT-20 Performance Data De.
K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 267 K GPS Glossary of Terms ASCII A 7-b it wide serial cod e describing numbers, u pper and lower case characters, special and non- printing characters.
K GPS G lossary of Terms 268 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Communi cation A method established for message tran sfer between a talker and a lis tener Protocol which includes the message format and the sequence in which the messages are to be transferred.
K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 269 Diluti on of A numerical value expressing the conf idence factor of the p osition solution Precision (DOP) based on current satellite geom etry.
K GPS G lossary of Terms 270 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Ambigui ty constant . Estimates Flash ROM Progr ammable r ead-only m emory. Floating A mbigu i ty Ambiguity estimates which are not held to a co nstant value, but ar e allowed Estimates to gr adually converge to the correct solution .
K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 271 L1 Frequency The 1575.4 2 MHz GPS carrier fr equency which con tains the cours e acquisiti on (C/A) code, as well as encrypted P-code, and navigation messages used by commercial GPS receivers.
K GPS G lossary of Terms 272 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 Observat io n Set A s et of GPSCard measurements taken at a given time which includes one.
K GPS Glo ssary of Terms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 273 Root Mean Square A pro babilit y level of 68%.
K GPS G lossary of Terms 274 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 True Bea ring Bearing relative to true north; comp ass bearing corrected for comp ass error. True Hea ding Heading relative to true north. Two-D imensional The number of hours -per-day w ith three or m ore satell ites visibl e.
L GPS Gl ossary of Ac ronyms MiLLenn ium GPSC ard SW Version 4.503 /4.52 Comma nd Descrip tions Man ual Rev 2 275 L GPS GLOSSARY OF ACRONYMS 1PPS One Pulse Per Second 2D Two Dime nsio na l 3D Three D .
L GPS G lossary of A cronyms 276 M iLLenniu m GPSCard SW V ersion 4 .503/4.52 Co mmand Des criptions Manual Re v 2 LHCP Left Hand Circular Polari zatio n LNA Low Nois e A mplifier LO Local Oscillator .
Index 277 MiLLenni um GPSCa rd SW Version 4.503/4 .52 Command Descriptions Manual R ev 2 1PPS , 34, 85, 130, 220 2D , 99, 165, 269, 274 3D , 165, 269, 273 A acceleration , 31, 33, 183, 226 – 227 acc.
Index 278 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 channels , 269, 272 – 273 L1/L2 , 212 num b er o f , 193, 212 phase lock , 196 range measu rements , 195 re.
Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 279 accumulated , 56, 196, 202 freque ncy , 84 instantaneous , 196 jump , 199 offset , 84 velocity , 222 double diff.
Index 280 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 H hardware reset , 112 HDOP, see dilution of p recision heading , 217, 222, 268, 270 health almanac , 138 log.
Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 281 N Narrow Correlator tracking technolo gy , 68, 79 navigat ion 2D , 274 accuracy , 54 calculations , 128 data , 1.
Index 282 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 Q quick start , 13 R radio f requency ( RF) , 75, 78, 199, 267 RAM , 199 range corrections , 228 reject codes.
Index MiLLenni um GPSCar d SW Version 4.503/4 .52 Command Descriptions Manual Rev 2 283 reference stati on , 49 reset , 90 RTK , 120, 234 system , 47, 206 tracking , 34 unlo ck , 133 segme nt (space, .
Index 284 MiLLenni um GPSCar d SW Version 4.503/ 4.52 Comman d Descript ions Manu al Rev 2 high dyna mi cs , 33 latency , 222 navigat ion , 175 over view , 63 quality , 222 satellite , 226 status , 18.
OM-200000 53 Rev 2 2001/0 1/16.
Un punto importante, dopo l’acquisto del dispositivo (o anche prima di acquisto) è quello di leggere il manuale. Dobbiamo farlo per diversi motivi semplici:
Se non hai ancora comprato il Novatel OM-20000053 Rev 2 è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del Novatel OM-20000053 Rev 2 - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Novatel OM-20000053 Rev 2 imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Novatel OM-20000053 Rev 2 ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Novatel OM-20000053 Rev 2, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Novatel OM-20000053 Rev 2.
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il Novatel OM-20000053 Rev 2. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Novatel OM-20000053 Rev 2 insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
