Novatel Software Version 4.45 OM-20000026 Rev 1 manuals
Marine Equipment > Marine GPS System
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Novatel Software Version 4.45 OM-20000026 Rev 1 Manual
256 pages 3.58 Mb
2 TABLE OF CONTENTSMiLLennium Command Descriptions Manual iii1Quick Start 2Command Descriptions 3Special Data Input Commands 4Data Logs 5Special Pass-Through Logs 6Message Formats iv MiLLennium Command Descriptions Manual7 RINEX-Standard Commands & Logs 3 APPENDICES6 FIGURESTABLES 7 1QUICK STARTMiLLennium Command Descriptions Manual 1 1.1 INSTALLATIONGraphical Interface2 MiLLennium Command Descriptions Manual 8 1.2 DATA LOGGINGMiLLennium Command Descriptions Manual 3 COMMONLY USED LOGS 9 1.3 DIFFERENTIAL OPERATIONEstablish a Data Link4 MiLLennium Command Descriptions ManualFIX POSITION lat lon height station id health Table 1-1 GPSCard Pseudorange Differential Initialization Summary 10 Initialization - Reference StationREFERENCE FIX POSITIONMiLLennium Command Descriptions Manual 5 LOG BROADCAST DATA 11 1.4 RTK MODEData Communications LinkTable 1-2 Latency-Induced Extrapolation Error 6 MiLLennium Command Descriptions Manual 12 System InitializationINITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20)1. At the reference station:station id MiLLennium Command Descriptions Manual 7 2. At the remote station: INITIALIZATION FOR RTCM-FORMAT MESSAGING (RT-20 ONLY)1. At the reference station:station id,station health 2. At the remote station: 13 Monitoring Your RTK Output Data Options for Logging Differential Corrections 15 Initialization - Rover StationACCEPT COMMAND LOG POSITION DATA AND OTHER USEFUL DATA 16 2COMMAND DESCRIPTIONS10 MiLLennium Command Descriptions Manual 2.1 GENERALMiLLennium Command Descriptions Manual 11 17 2.2 COMMAND TABLES23 32SPECIAL DATA INPUT COMMANDSMiLLennium Command Descriptions Manual 17 3 3.1 ALMANAC DATA18 MiLLennium Command Descriptions Manual 24 $ALMA...$IONA...MiLLennium Command Descriptions Manual 19 $UTCA... 25 3.2 DIFFERENTIAL CORRECTIONS DATA$PVAA/B XYZ Position, Velocity and Acceleration $REPA/B Raw GPS Ephemeris Data20 MiLLennium Command Descriptions Manual 26 $RTCA... (RTCAA)$RTCM... (RTCMA, $RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A, RTCM59A)MiLLennium Command Descriptions Manual 21 27 $TM1A/B Receiver Time of 1PPS28 4 DATA LOGS36 5SPECIAL PASS-THROUGH LOGS40 6 MESSAGE FORMATS51 7RINEX-STANDARD COMMANDS & LOGSMiLLennium Command Descriptions Manual 45 46 MiLLennium Command Descriptions Manual 52 7.1 COMMANDSRINEXCommand example: RINEX cfgtype MiLLennium Command Descriptions Manual 47 53 7.2 LOGSRINEX Observation and Navigation Logs and Headers XKIN Observation Kinematic Event XNAV Navigation Data Record48 MiLLennium Command Descriptions Manual 54 XNHD Navigation HeaderXOBS Observation Data Record XOHD Observation HeaderMiLLennium Command Descriptions Manual 49 55 XSTA Observation Static EventThis log generates a time tag and flag when a new site occupation begins. Command example: 56 AGPS OVERVIEW67 BMULTIPATH ELIMINATION TECHNOLOGY72 CCOMMANDS SUMMARY126 DLOGS SUMMARY120 MiLLennium Command Descriptions Manual LOG DESCRIPTIONSALMA/B Decoded AlmanacMiLLennium Command Descriptions Manual 121 127 ALMA129 ALMBMessage ID = 16 Message byte count = 76 IONB FORMAT:ALMB FORMAT: Message ID = 18 Message byte count = 120 131 BSLA/B Baseline MeasurementMiLLennium Command Descriptions Manual 125 RTK BSLA126 MiLLennium Command Descriptions Manual 132 BSLBFormat: Message ID = 59 Message byte count = 100 133 MiLLennium Command Descriptions Manual 127Table D-1 GPSCard Solution Status Table D-4 RTK Status for Position Type 4 (RT-2) Table D-2 Position Type Table D-3 RTK Status for Position Type 3 (RT-20) 128 MiLLennium Command Descriptions Manual 134 CDSA/B Communication and Differential Decode StatusCDSA 136 CDSBFormat: Message ID = 39 Message byte count = 128 MiLLennium Command Descriptions Manual 131 137 CLKA/B Receiver Clock Offset DataCLKA132 MiLLennium Command Descriptions Manual 138 CLKBFormat: Message ID = 02 Message byte count = 68 139 CLMA/B Receiver Clock Model141 COM1A/B and COM2A/B Pass-Through Logs136 MiLLennium Command Descriptions Manual 142 DOPA/B Dilution of PrecisionDOPAMiLLennium Command Descriptions Manual 137 143 DOPBFormat: Message ID = 07 Message byte count = 68+(sats*4) 138 MiLLennium Command Descriptions Manual 144 ETSA/B Extended Tracking StatusETSAMiLLennium Command Descriptions Manual 139Example (carriage returns have been added between observations for clarity): 145 ETSBFormat: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observations 140 MiLLennium Command Descriptions Manual 146 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 MiLLennium Command Descriptions Manual 141 147 GGAB Global Position System Fix Data (Binary Format Only)Note: The maximum age reported here is limited to 99 seconds. 142 MiLLennium Command Descriptions Manual 148 GPALM Almanac Data Reference Table 20-VI, ICD-GPS-200, Rev. B for scalingfactors and units.MiLLennium Command Descriptions Manual 143 149 GPGGA Global Position System Fix Data$GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop alt units null null age stn ID *xx [CR][LF] 144 MiLLennium Command Descriptions Manual 150 GPGLL Geographic Position MiLLennium Command Descriptions Manual 145 151 GPGRS GPS Range Residuals for Each Satellite146 MiLLennium Command Descriptions Manual 152 GPGSA GPS DOP and Active SatellitesMiLLennium Command Descriptions Manual 147 153 GPGST Pseudorange Measurement Noise Statistics148 MiLLennium Command Descriptions Manual 154 GPGSV GPS Satellites in ViewMiLLennium Command Descriptions Manual 149 155 GPRMB Navigation Information150 MiLLennium Command Descriptions Manual 156 GPRMC GPS Specific InformationMiLLennium Command Descriptions Manual 151 157 GPVTG Track Made Good And Ground Speed152 MiLLennium Command Descriptions Manual 158 GPZDA UTC Time and DateMiLLennium Command Descriptions Manual 153 159 GPZTG UTC & Time to Destination Waypoint154 MiLLennium Command Descriptions Manual 160 MKPA/B Mark PositionFormat: Message ID = 05 Message byte count = 88 MKPA MKPBMiLLennium Command Descriptions Manual 155 161 MKTA/B Time of Mark InputFormat: Message ID = 04 Message byte count = 52 MKTA MKTB$MKTA week seconds offset offset std utc offset cm status *xx [CR][LF] 156 MiLLennium Command Descriptions Manual 162 NAVA/B Waypoint Navigation DataNAVAMiLLennium Command Descriptions Manual 157 163 NAVBFormat: Message ID = 08 Message byte count = 76 MiLLennium Command Descriptions Manual 159 165 PAVA/B Position Averaging StatusPAVA160 MiLLennium Command Descriptions Manual 166 PAVBFormat: Message ID = 50 Message byte count = 80 MiLLennium Command Descriptions Manual 161 167 POSA/B Computed Position168 PRTKA/B Computed Position 162 MiLLennium Command Descriptions Manual (RTK) PRTKAMiLLennium Command Descriptions Manual 163Example: $PRTKA,872,174963.00,1.000,8,7,7,51.11358042429, -114.04358006710,1059.4105, -16.2617,61,0.0096,0.0100,0.0112,0,0,4,42,119*51[CR][LF] 169 PRTKBFormat: Message ID = 63 Message byte count = 124 164 MiLLennium Command Descriptions Manual 170 PVAA/B XYZ Position, Velocity and AccelerationPVAAMiLLennium Command Descriptions Manual 165 171 PVABFormat: Message ID = 49 Message byte count = 108 166 MiLLennium Command Descriptions Manual 172 PXYA/B Computed Cartesian Coordinate PositionPXYA$PXYA week seconds x y z x std y std z std sol status fix status diff lag *xx [CR][LF] MiLLennium Command Descriptions Manual 167 173 PXYBFormat: Message ID = 26 Message byte count = 88 MiLLennium Command Descriptions Manual 169 175 RALA/B Raw AlmanacRALA RALB170 MiLLennium Command Descriptions Manual 176 RASA/B Raw Almanac SetRASA$RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe subframe# page # subframe MiLLennium Command Descriptions Manual 171 177 RASBFormat: Message ID = 66 Message byte count = 40 + (n * 32) 172 MiLLennium Command Descriptions Manual 178 RBTA/B Satellite Broadcast Data: Raw BitsRBTA RBTBMiLLennium Command Descriptions Manual 173 179 RCCA Receiver ConfigurationRCCA174 MiLLennium Command Descriptions Manual 180 RCSA/B Receiver StatusRCSA RCSBMiLLennium Command Descriptions Manual 175 181 REPA/B Raw EphemerisREPA REPB176 MiLLennium Command Descriptions Manual 182 RGEA/B/D Channel Range MeasurementsMiLLennium Command Descriptions Manual 177 183 RGEAExample (carriage returns have been added between observations for clarity): $RGEA week seconds # obs rec status prn psr psr std adr adr std dopp C/No locktime ch-tr-status prn psr psr std adr adr std dopp C/No locktime ch-tr-status 178 MiLLennium Command Descriptions Manual 184 RGEBFormat: Message ID = 32 Message byte count = 32 + (obs x 44) MiLLennium Command Descriptions Manual 179 185 RGED191 RINEX186 MiLLennium Command Descriptions Manual 192 RPSA/B Reference Station Position and HealthRPSA RPSBMiLLennium Command Descriptions Manual 187 193 RTCA Standard LogsRTCM Standard Logs 194 RTKA/B Computed Position - Time Matched188 MiLLennium Command Descriptions Manual RTK RTKAMiLLennium Command Descriptions Manual 189 195 RTKBFormat: Message ID = 61 Message byte count = 116 190 MiLLennium Command Descriptions Manual 196 RTKOA/B RTK Solution ParametersRTKOAsat id amb res MiLLennium Command Descriptions Manual 191 197 RTKOB199 RVSA/B Receiver StatusRVSA194 MiLLennium Command Descriptions Manual 200 RVSBFormat: Message ID = 56 Message byte count =28+ (8 x number of cards) MiLLennium Command Descriptions Manual 195 201 SATA/B Satellite Specific DataSATA196 MiLLennium Command Descriptions Manual 202 SATBTable D-11 GPSCard Range Reject CodesFormat: Message ID =12 Message byte count = 32 + (obs*32) MiLLennium Command Descriptions Manual 197 203 SBTA/B SATELLITE BROADCAST DATA: RAW SYMBOLSFormat: Message ID = 53 Message byte count = 168 SBTA SBTB$SBTA week seconds prn cstatus message # # of symbols raw symbols *xx [CR][LF] 198 MiLLennium Command Descriptions Manual 204 SPHA/B Speed and Direction Over GroundSPHA SPHBMiLLennium Command Descriptions Manual 199 205 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA200 MiLLennium Command Descriptions Manual 206 SVDBFormat: Message ID = 36 Message byte count = 36 +(obs*68) MiLLennium Command Descriptions Manual 201 207 TM1A/B Time of 1PPSTM1A TM1B202 MiLLennium Command Descriptions Manual 208 VERA/B Receiver Hardware and Software Version Numbers209 VLHA/B Velocity, Latency, and Direction over Ground MiLLennium Command Descriptions Manual 203 VLHA204 MiLLennium Command Descriptions Manual 210 VLHBTable D-12 GPSCard Velocity StatusFormat: Message ID = 34 Message byte count = 72 MiLLennium Command Descriptions Manual 205 211 WRCA/B Wide Band Range Correction (Grouped Format) 212 ECOMPARISON OF RT-2 AND RT-20206 MiLLennium Command Descriptions Manual E.1 RT-2 & RT-20 PERFORMANCETable E-1 Comparison of RT-2 and RT-20 Table E-2 RTK Messages Vs. Accuracy MiLLennium Command Descriptions Manual 207 213 RT-2 PerformanceTable E-4 RT-2 Performance: Kinematic Mode Table E-3 RT-2 Performance: Static Mode 214 208 MiLLennium Command Descriptions ManualFigure E-1 Typical RT-2 Horizontal Convergence - Static Mode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode 215 RT-20 PerformanceSingle-point solution Floating ambiguity solution Narrow lane solution 218 E.2 PERFORMANCE CONSIDERATIONSPerformance DegradationREMOTE TRACKING LOSS DIFFERENTIAL LINK BREAKDOWN 220 FSTANDARDS AND REFERENCES214 MiLLennium Command Descriptions Manual 221 GGEODETIC DATUMS 224 HSOME COMMON UNIT CONVERSIONS225 INFORMATION MESSAGESIMiLLennium Command Descriptions Manual 219 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] 220 MiLLennium Command Descriptions Manual Table -2 Type 1 !MSGA Types 226 TYPE 2 INFORMATION MESSAGES 229 JJLISTING OF TABLESMiLLennium Command Descriptions Manual 223 LISTING OF TABLES 224 MiLLennium Command Descriptions Manual Table 1-1 GPSCard Pseudorange Differential Initialization Summary 230 REFERENCE 246 KGPS GLOSSARY OF TERMS254 LGPS GLOSSARY OF ACRONYMS
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