Novatel OM-20000041 manuals
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Novatel OM-20000041 Manual
276 pages 5.42 Mb
2 GPSCard2 MiLLennium GPSCard Software Version 4.50 Command Descripti ons Manual Rev 1 MiLLennium Command Descriptions Manual 3 TABLE OF CONTENTS7 FIGURES8 MiLLennium GPSCard Software Version 4.50 Command Descrip tions Manual Rev 1 8 TABLES9 SOFTWARE LICENSEMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 9 Software Support 10 SOFTWARE SUPPORT10 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Foreword MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 11 11 FOREWORDCongratulations! Scope Prerequisites Whats New In Version 4.50? 12 1QUICK START1.1 INSTALLATION 13 1.2 DATA LOGGING15 1.3 DIFFERENTIAL OPERATIONEstablish a Data Link16 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Table 1-1 GPSCard Pseudorange Differential Initialization SummaryFIX POSITION lat lon height station id health 16 Initialization - Reference StationFIX POSITIONReference Station Remote Station MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 17 LOG BROADCAST DATATable 1-2 Latency-Induced Extrapolation Error 17 1.4 RTK MODE23 2COMMAND DESCRIPTIONS34 3 DATA LOGS45 4MESSAGE FORMATS62 AGPS OVERVIEW62 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Figure A-1 NAVSTAR Satellite Orbit Arra ngement A.1 GPS SYSTEM DESIGNThe Space SegmentMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 63 The Control Segment The User Segment 63 A.2 HEIGHT RELATIONSHIPSWhat is a geoid? What is an ellipsoid? What is the relationship between a geoid and an ellipsoid? 64 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Figure A-2 Illustration of GPSCard Height Measurements Why is this important for GPS users? 64 A.3 GPS POSITIONING71 A.4 CARRIER-PHASE ALGORITHMS73 BMultipath Elimination Technology79 CCOMMANDS SUMMARY136 DLOGS SUMMARYLOG DESCRIPTIONSALMA/B Decoded AlmanacALMAMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 139 139 ALMBMessage ID = 16 Message byte count = 76 IONB FORMAT:ALMB FORMAT: Message ID = 18 Message byte count = 120 141 BSLA/B Baseline Measurement144 CDSA/B Communication and Differential Decode StatusCDSA 146 CDSBFormat: Mess age ID = 39 Message byte count = 128 147 CLKA/B Receiver Clock Offset DataCLKA 148 CLKBFormat: Message ID = 02 Message byte count = 68 149 CLMA/B Receiver Clock Model152 COM1A/B and COM2A/B Pass-Through Logs153 DOPA/B Dilution of PrecisionDOPA 154 DOPBFormat: Message ID = 07 Message byte count = 68+(sats*4) 155 ETSA/B Extended Tracking StatusETSAExample (carriage returns have been added between observations for clarity): 156 ETSBFormat: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observations 157 FRMA/B Framed Raw Navigation DataFormat: Message ID = 54 Message byte count = variable FRMA FRMB$FRMA week seconds prn cstatus # of bits framed raw data 158 GGAB Global Position System Fix Data (Binary Format Only)159 GPALM Almanac Data1 2 3 Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units. 160 GPGGA Global Position System Fix Data$GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop alt units null null age stn ID *xx [CR][LF] 161 GPGLL Geographic Position 162 GPGRS GPS Range Residuals for Each Satellite163 GPGSA GPS DOP and Active Satellites164 GPGST Pseudorange Measurement Noise Statistics165 GPGSV GPS Satellites in View166 GPRMB Navigation Information167 GPRMC GPS Specific Information168 GPVTG Track Made Good And Ground Speed169 GPZDA UTC Time and Date170 GPZTG UTC & Time to Destination Waypoint171 MKPA/B Mark PositionFormat: Message ID = 05 Message byte count = 88 MKPA MKPB 172 MKTA/B Time of Mark InputFormat: Message ID = 04 Message byte count = 52 MKTA MKTB$MKTA week seconds offset offset std utc offset cm status *xx [CR][LF] 173 NAV A/B Waypoint Navigation DataNAVA 174 NAVBFormat: Message ID = 08 Message byte count = 76 176 PAVA/B Position Averaging StatusPAVA 177 PAVBFormat: Message ID = 50 Message byte count = 80 178 POSA/B Com puted Position179 PRTKA/B Computed Position (RTK) PRTKAExample: $PRTKA,872,174963.00,1.000,8,7,7,51.11358042429, -114.04358006710,1059.4105, -16.2617,61,0.0096,0.0100,0.0112,0,0,4,42,119*51[CR][LF] 180 PRTKBFormat: Message ID = 63 Message byte count = 124 181 PVAA/B XYZ Position, Velocity and AccelerationPVAA 182 PVABFormat: Message ID = 49 Message byte count = 108 183 PXYA/B Computed Cartesian Coordinate PositionPXYA 184 PXYBFormat: Message ID = 26 Message byte count = 88 186 RALA/B Raw Almanac187 RASA/B Raw Almanac SetRASA$RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe subframe# page # subframe 188 RASBFormat: Message ID = 66 Message byte count = 40 + (n * 32) 189 RBTA/B Satellite Broadcast Data: Raw Bits191 RCSA/B Receiver Status192 REPA/B Raw Ephemeris193 RGEA/B/D Channel Range Measurements194 RGEAExample (carriage returns have been added between observations for clarity): $RGEA week seconds # obs rec status prn psr psr std adr adr std dopp C/No locktime ch-tr-status prn psr psr std adr adr std dopp C/No locktime ch-tr-status 195 RGEBFormat: Message ID = 32 Message byte count = 32 + (obs x 44) Format: Message ID = 65 Message byte count =24 + (20 x number of obs) RGED 202 RINEX203 RPSA/B Reference Station Position and HealthFormat: Message ID = 60 Message byte count = 56 RPSA RPSB$RPSA week seconds X Y Z health stn ID *xx [CR][LF] 204 RTCA Standard LogsRTCM Standard Logs 205 RTKA/B Computed Position - Time MatchedRTKA 206 RTKBFormat: Message ID = 61 Message byte count = 116 207 RTKOA/B RTK Solution Parameters210 RVSA/B Receiver StatusRVSA 211 RVSBFormat: Message ID = 56 Message byte count = 28 + (8 x number of cards) 212 SATA/B Satellite Specific DataSATAMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 213 213 SATBTable D-11 GPSCard Range Reject CodesFormat: Message ID =12 Message byte count = 32 + (obs*32) 214 SBTA/B SATELLITE BROADCAST DATA: RAW SYMBOLSFormat: Message ID = 53 Message byte count = 168 SBTA SBTB$SBTA week seconds prn cstatus message # # of symbols raw symbols *xx [CR][LF] 215 SPHA/B Speed and Direction Over Ground216 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA 217 SVDBFormat: Message ID = 36 Message byte count = 36 +(obs*68) 218 TM1A/B Time of 1PPS219 VERA/B Receiver Hardware and Software Version Numbers220 VLHA/B Velocity, Latency, and Direction over Ground VLHAMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 221 221 VLHBTable D-12 GPSCard Velocity StatusFormat: Message ID = 34 Message byte count = 72 222 WALA/B WAAS Almanac MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 223 223 WALBTable D-14 Data ID TypeFormat: Message ID = 81 Message byte count = 92 Table D-13 Health and Status Bits Data ID Type (Service Provider) 224 WRCA/B Wide Band Range Correction (Grouped Format) 225 ECOMPARISON OF RT-2 AND RT-20MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 225 E COMPARISON OF RT-2 AND RT-20 E.1 RT-2 & RT-20 PERFORMANCETable E-1 Comparison of RT-2 and RT-20 Table E-2 RTK Messages Vs. Accuracy E Comparison Of R T-2 And RT-20 226 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 226 RT-2 Performance228 RT-20 PerformanceSingle-point solution Floating ambiguity solution Narrow lane solution 231 E.2 PERFORMANCE CONSIDERATIONSPerformance DegradationREMOTE TRACKING LOSS DIFFERENTIAL LINK BREAKDOWN232 E Comparison Of R T-2 And RT-20232 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Figure E-8 RT-20 Re-initialization Process F Standards and R eferences 233 FSTANDARDS AND REFERENCESMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 233 G Geodetic Datums 234 GGEODETIC DATUMS234 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table G-1 Reference Ellipsoid Constants Table G-2 Transformation Parameters (Local Geodetic to WGS84) 235 G Geodetic DatumsTable G-2 Transformation Parameters (Local Geodetic to WGS84) MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 235 H Some Common U nit Conversions 236 HSOME COMMON UNIT CONVERSIONS236 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 H SOME COMMON UNIT CONVERSIONS H.3 TEMPERATURE H.4 WEIGHT H.5 HEXADECIMAL AND BINARY EQUIVALENTS H.1 DISTANCE H.2 VOLUMEH Some Common Unit C onversions MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 237 237 H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE)H.6.1 Calendar Date to GPS Time (e.g. 11:30 hours, January 22, 1995) 238 INFORMATION MESSAGESI238 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 INFORMATION MESSAGES Table TYPE 1 INFORMATION MESSAGESTo date, the only Type 1 messages are the !ERRA and the !MSGA logs. !ERRA !MSGA!ERRA type severity error string opt. description *xx [CR][LF] !MSGA type message opt. description *xx [CR][LF] I Information Message s Table MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 239 -2 Type 1 !MSGA Ty pes 239 TYPE 2 INFORMATION MESSAGES 242 JJLISTING OF TABLES 260 KGPS GLOSSARY OF TERMSL GPS Glossary of Acronyms 268 LGPS GLOSSARY OF ACRONYMS268 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 L GPS GLOSSARY OF ACRONYMS 269 L GPS Glossary of AcronymsMiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 269 270 MINDEX
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