Novatel OM-20000053 Rev 2 manuals
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Novatel OM-20000053 Rev 2 Manual
285 pages 6.57 Mb
MiLLennium Command Descriptions Manual 2 Proprietary NoticeMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 3 3 Table of ContentsSoftware License 10 Software Support 11 Foreword 12 1 Quick Start 13 2 Command Descriptions 24 3 Data Logs 354 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2 4 Message Formats 46 4 APPENDICESA GPS Overview 63 B Multipath Elimination Technology 75 C Commands Summary 81MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2 5 5 D Logs Summary 1386 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2 6 E Comparison Of RT-2 And RT-20 231F Standards and References 239 G Geodetic Datums 240 H Some Common Unit Conversions 242 8 Tables9 Figures10 SOFTWARE LICENSE10 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 11 SOFTWARE SUPPORT12 FOREWORDCongratulations! Scope Prerequisites Whats New In This Manual? 13 1QUICK START1.1 INSTALLATION 14 1.2 DATA LOGGING16 1.3 DIFFERENTIAL OPERATIONEstablish a Data Link1 Quick Start MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 17 Table 1-1 GPSCard Pseudorange Differential Initialization Summary FIX POSITION lat lon height station id health 17 Initialization - Reference StationFIX POSITIONReference Station Remote Station Required: Recommended Options: Related Commands/Logs: Required: Recommended Options: Related Commands/Logs: LOG BROADCAST DATA 18 1.4 RTK MODE24 2COMMAND DESCRIPTIONS35 3 DATA LOGS46 4MESSAGE FORMATS63 AGPS OVERVIEW75 BMultipath Elimination Technology81 CCOMMANDS SUMMARY138 DLOGS SUMMARY 7 139 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 139IONA FORMAT $IONA act a1ot a2ot a3ot bct b1ot b2ot b3ot *xx [CR][LF] MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 141 141 ALMBIONB FORMAT: Message ID = 16 Message byte count = 76 ALMB FORMAT: Message ID = 18 Message byte count = 120 143 BSLA/B Baseline Measurement BSLA144 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 144 BSLBTable D-1 GPSCard Solution Status Format: Message ID = 59 Message byte count = 100 146 CDSA/B Communication and Differential Decode StatusCDSA 148 CDSBFormat: Message ID = 39 Message byte count = 128 149 CLKA/B Receiver Clock Offset DataCLKA 150 CLKBFormat: Message ID = 02 Message byte count = 68MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 151 151 CLMA/B Receiver Clock ModelCLMA 152 CLMBFormat: Message ID = 51 Message byte count = 156 154 COM1A/B and COM2A/B Pass-Through Logs155 DOPA/B Dilution of PrecisionDOPA 156 DOPBFormat: Message ID = 07 Message byte count = 68+(sats*4) 157 ETSA/B Extended Tracking StatusETSAExample (carriage returns have been added between observations for clarity): 158 ETSBFormat: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observationsMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 159 159 FRMA/B Framed Raw Navigation DataFormat: Message ID = 54 Message byte count = variable FRMA FRMB$FRMA week seconds prn cstatus # of bits framed raw data 160 GGAB Global Position System Fix Data (Binary Format Only)161 GPALM Almanac Data1 2 3 Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.162 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 162 GPGGA Global Position System Fix Data$GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop alt units null null age stn ID *xx [CR][LF] 163 GPGLL Geographic Position 164 GPGRS GPS Range Residuals for Each Satellite165 GPGSA GPS DOP and Active SatellitesGPS receiver operating mode, satellites used for navigation and DOP values.166 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 166 GPGST Pseudorange Measurement Noise Statistics$GPGST utc rms smjr std smnr std orient lat std lon std alt std *xx [CR][LF] 167 GPGSV GPS Satellites in View168 GPRMB Navigation Information169 GPRMC GPS Specific Information170 GPVTG Track Made Good And Ground SpeedThe track made good and speed relative to the ground. 171 GPZDA UTC Time and Date172 GPZTG UTC & Time to Destination WaypointMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 173 173 MKPA/B Mark PositionFormat: Message ID = 05 Message byte count = 88 MKPA MKPB174 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 174 MKTA/B Time of Mark InputFormat: Message ID = 04 Message byte count = 52 MKTA MKTB$MKTA week seconds offset offset std utc offset cm status *xx [CR][LF] MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 175 175 NAVA/B Waypoint Navigation DataNAVA$NAVA week seconds distance bearing along track xtrack etaw etas nav status sol status *xx [CR][LF] 176 NAVBFormat: Message ID = 08 Message byte count = 76 178 PAVA/B Position Averaging StatusPAVA 179 PAVBFormat: Message ID = 50 Message byte count = 80180 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 180 POSA/B Computed PositionFormat: Message ID = 01 Message byte count = 88 POSA POSB$POSA week seconds lat lon hgt undulation datum ID lat std lon std hgt std sol status *xx [CR][LF] 181 PRTKA/B Computed Position PRTKA182 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Example: $PRTKA,872,174963.00,1.000,8,7,7,51.11358042429,-114.04358006710,1059.4105,-16.2617,61, 0.0096,0.0100,0.0112,0,0,4,42,119*51[CR][LF] 182 PRTKBFormat: Message ID = 63 Message byte count = 124 183 PVAA/B XYZ Position, Velocity and AccelerationPVAA 184 PVABFormat: Message ID = 49 Message byte count = 108MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 185 185 PXYA/B Computed Cartesian Coordinate PositionPXYA$PXYA week seconds x y z x std y std z std sol status fix status diff age *xx [CR][LF] 186 PXYBFormat: Message ID = 26 Message byte count = 88 188 RALA/B Raw AlmanacRALA RALBMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 189 189 RASA/B Raw Almanac SetRASA$RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe subframe# page # subframe 190 RASBFormat: Message ID = 66 Message byte count = 40 + (n * 32)MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 191 191 RBTA/B Satellite Broadcast Data: Raw BitsFormat: Message ID = 52 Message byte count = 72 RBTA RBTB$RBTA week seconds prn cstatus message # # of bits raw bits *xx [CR][LF] 193 RCSA/B Receiver Status194 REPA/B Raw Ephemeris195 RGEA/B/D Channel Range Measurements196 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 196 RGEAExample (carriage returns have been added between observations for clarity):$RGEA week seconds # obs rec status prn psr psr std adr adr std dopp C/No locktime ch-tr-status prn psr psr std adr adr std dopp C/No locktime ch-tr-status 197 RGEBFormat: Message ID = 32 Message byte count = 32 + (obs x 44) Format: Message ID = 65 Message byte count =24 + (20 x number of obs) RGED 204 RINEX Receiver-Independent Exchange FormatMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 205 205 RPSA/B Reference Station Position and HealthFormat: Message ID = 60 Message byte count = 56 RPSA RPSB$RPSA week seconds X Y Z health stn ID *xx [CR][LF] 206 RTCA Standard LogsRTCM Standard Logs 207 RTKA/B Computed Position - Time Matched RTKA 208 RTKBFormat: Message ID = 61 Message byte count = 116MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 209 209 RTKOA/B RTK Solution Parameters RTKOA 210 RTKOBFormat: Message ID = 62 Message byte count = 196 + (#res)*16 212 RVSA/B Receiver StatusRVSA 213 RVSBFormat: Message ID = 56 Message byte count = 28 + (8 x number of cards) 214 SATA/B Satellite Specific DataSATAMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 215 215 SATBTable D-11 GPSCard Range Reject Codes Format: Message ID =12 Message byte count = 32 + (obs*32)216 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 216 SBTA/B Satellite Broadcast Data: Raw SymbolsFormat: Message ID = 53 Message byte count = 168 SBTA SBTB$SBTA week seconds prn cstatus message # # of symbols raw symbols *xx [CR][LF] MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 217 217 SPHA/B Speed and Direction Over GroundFormat: Message ID = 06 Message byte count = 52 SPHA SPHB$SPHA week seconds hor spd trk gnd vert spd sol status *xx [CR][LF] 218 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 218 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA$SVDA week seconds rec clk err # obs prn x y z clk corr ion corr trop corr diff corr rng std prn x y z clk corr ion corr trop corr diff corr rng std 219 SVDBFormat: Message ID = 36 Message byte count = 36 +(obs*68)220 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 220 TM1A/B Time of 1PPSFormat: Message ID = 03 Message byte count = 52 TM1A TM1B$TM1A week seconds offset offset std utc offset cm status *xx [CR][LF] 221 VERA/B Receiver Hardware and Software Version Numbers222 VLHA/B Velocity, Latency, and Direction Over Ground VLHAMiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 223 223 VLHBTable D-12 GPSCard Velocity Status Format: Message ID = 34 Message byte count = 72 224 WALA/B WAAS Almanac *Example:MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 225 225 WALBTable D-14 Data ID Type Format: Message ID = 81 Message byte count = 92Table D-13 Health and Status Bits Data ID Type (Service Provider) 226 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 226 WEPA/B WAAS Ephemeris WEPA$WEPA week seconds wkephem secephem prn IOD acc P-X P-Y P-Z V-X V-Y V-Z A-X A-Y A-Z agf1 agf2 227 WEPBFormat: Message ID = 80 Message byte count = 128228 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 228 WRCA/B Wide Band Range Correction (Grouped Format)Format: Message ID = 67 Message byte count = 28 + (obs*16) WRCA WRCB$WRCA week seconds # obs prn ch-tr-status tr-bandwidth wide band correction prn ch-tr-status tr-bandwidth wide band correction 229 WUTCA/B UTC Time Parameters This log outputs UTC time parameters and two GLONASS specific fields. WUTCA$230 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 230 WUTCBTable D-15 UTC Standard Identifier Message ID = 82 Message byte count = 82 231 ECOMPARISON OF RT-2 AND RT-20239 FSTANDARDS AND REFERENCES240 GGEODETIC DATUMS240 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table G-1 Reference Ellipsoid Constants Table G-2 Transformation Parameters (Local Geodetic to WGS84) 241 G Geodetic DatumsTable G-2 Transformation Parameters (Local Geodetic to WGS84) MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 241 242 HSOME COMMON UNIT CONVERSIONS244 IINFORMATION MESSAGES244 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 I TYPE 1 INFORMATION MESSAGESTo date, the only Type 1 messages are the !ERRA and the !MSGA logs. !ERRATable I-1 Type 1 !ERRA Types !MSGA!ERRA type severity error string opt. description *xx [CR][LF] !MSGA type message opt. description *xx [CR][LF] MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 245 Table I- 2 Type 1 !M SGA Types 245 TYPE 2 INFORMATION MESSAGES248 JJLISTING OF TABLES 267 KGPS GLOSSARY OF TERMS275 LGPS GLOSSARY OF ACRONYMS
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